+ python -m lidar_slam --no-model /working/0a1c4c7e-2aff-43b3-810b-9ebb70f28164 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/0a1c4c7e-2aff-43b3-810b-9ebb70f28164 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 0.001858064 Adjusted end_distance from 9.223372036854776e+18 to 263.171858064 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001858064 meters Centerline goodness : 0.207595 Centerline is valid? [0, False] SLAMing on 0.031858064 meters Centerline goodness : 0.201137 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99998852e-01 7.09111335e-04 -1.33875312e-03 5.08088508e-03] [-7.07285708e-04 9.99998820e-01 1.36365822e-03 6.25329326e-03] [ 1.33971852e-03 -1.36270977e-03 9.99998174e-01 -1.10746504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.061858064 meters Centerline goodness : 0.200209 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99997043e-01 -9.85898876e-04 -2.22319260e-03 8.73251180e-03] [ 9.84373399e-04 9.99999279e-01 -6.87154982e-04 1.43607539e-02] [ 2.22386847e-03 6.84964498e-04 9.99997293e-01 -2.09686033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091858064 meters Centerline goodness : 0.200170 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.00 [[ 9.99991242e-01 -1.29807938e-03 -3.97876112e-03 1.62023782e-02] [ 1.29626556e-03 9.99999055e-01 -4.58421891e-04 2.76364256e-02] [ 3.97935242e-03 4.53260345e-04 9.99991980e-01 -3.61987943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121858064 meters Centerline goodness : 0.186216 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.00 [[ 9.99985992e-01 -4.23020522e-04 -5.27605231e-03 2.13370795e-02] [ 4.29967066e-04 9.99999042e-01 1.31555291e-03 3.34479388e-02] [ 5.27549075e-03 -1.31780302e-03 9.99985216e-01 -4.64146119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.151858064 meters Centerline goodness : 0.222797 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 9.99979230e-01 2.75229218e-04 -6.43918889e-03 2.65293287e-02] [-2.57265341e-04 9.99996074e-01 2.79043515e-03 3.91337035e-02] [ 6.43993161e-03 -2.78872062e-03 9.99975375e-01 -6.05550706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18185806399999999 meters Centerline goodness : 0.217268 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 9.99970173e-01 7.55667064e-04 -7.68651527e-03 3.19298189e-02] [-7.22783258e-04 9.99990580e-01 4.27999486e-03 4.47573219e-02] [ 7.68967711e-03 -4.27431151e-03 9.99961299e-01 -7.21194267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21185806399999998 meters Centerline goodness : 0.795323 Centerline is valid? [False, False] Translation: X:0.04, Y:0.06, Z:-0.01 [[ 9.99962619e-01 3.06117993e-04 -8.64103770e-03 3.79931800e-02] [-2.65404947e-04 9.99988862e-01 4.71234573e-03 5.66847531e-02] [ 8.64238399e-03 -4.70987620e-03 9.99951562e-01 -8.30852932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24185806399999998 meters Centerline goodness : 0.124375 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.01 [[ 9.99989401e-01 7.21665813e-04 -4.54727073e-03 5.58011471e-02] [-7.25252049e-04 9.99999427e-01 -7.87057256e-04 6.51840047e-02] [ 4.54670013e-03 7.90346831e-04 9.99989351e-01 -1.06552304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.271858064 meters Centerline goodness : 0.780047 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.01 [[ 9.99985422e-01 -7.13245630e-04 -5.35220604e-03 6.03181921e-02] [ 7.06951957e-04 9.99999057e-01 -1.17770246e-03 7.12992445e-02] [ 5.35304098e-03 1.17390154e-03 9.99984983e-01 -1.16458212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.301858064 meters Centerline goodness : 0.804127 Centerline is valid? [False, False] Translation: X:0.07, Y:0.08, Z:-0.01 [[ 9.99972205e-01 -2.86468569e-03 -6.88350553e-03 6.92696372e-02] [ 2.86030719e-03 9.99995701e-01 -6.45846028e-04 8.07920208e-02] [ 6.88532608e-03 6.26139136e-04 9.99976100e-01 -1.33732732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33185806399999995 meters Centerline goodness : 0.797661 Centerline is valid? [False, False] Translation: X:0.07, Y:0.09, Z:-0.01 [[ 0.99995856 -0.00499896 -0.00760872 0.07312219] [ 0.0049869 0.99998628 -0.00160304 0.08556584] [ 0.00761663 0.00156503 0.99996977 -0.01375273] [ 0. 0. 0. 1. ]] SLAMing on 0.361858064 meters Centerline goodness : 0.765760 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.01 [[ 9.99945155e-01 -5.87406244e-03 -8.67073196e-03 7.91259118e-02] [ 5.87490023e-03 9.99982740e-01 7.11552682e-05 8.86443867e-02] [ 8.67016433e-03 -1.22091051e-04 9.99962406e-01 -1.48851658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.391858064 meters Centerline goodness : 0.763910 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-0.02 [[ 0.99992774 -0.0072172 -0.00961411 0.08543011] [ 0.00723062 0.99997293 0.00136191 0.09174402] [ 0.00960402 -0.00143132 0.99995286 -0.01639639] [ 0. 0. 0. 1. ]] SLAMing on 0.421858064 meters Centerline goodness : 0.194502 Centerline is valid? [False, False] Translation: X:0.09, Y:0.10, Z:-0.02 [[ 9.99855501e-01 -1.26775756e-02 -1.13250621e-02 9.44658482e-02] [ 1.26724988e-02 9.99919565e-01 -5.19929705e-04 9.90105030e-02] [ 1.13307426e-02 3.76337739e-04 9.99935734e-01 -1.72542785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45185806399999995 meters Centerline goodness : 0.200952 Centerline is valid? [False, False] Translation: X:0.10, Y:0.10, Z:-0.02 [[ 9.99819798e-01 -1.42398103e-02 -1.25538290e-02 1.01647771e-01] [ 1.42492806e-02 9.99898253e-01 6.65246913e-04 1.01437364e-01] [ 1.25430787e-02 -8.44010067e-04 9.99920976e-01 -1.91206013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.481858064 meters Centerline goodness : 0.136407 Centerline is valid? [False, False] Translation: X:0.11, Y:0.10, Z:-0.02 [[ 0.99979271 -0.01522649 -0.01351641 0.1077525 ] [ 0.0152575 0.99988119 0.00219453 0.10352511] [ 0.01348139 -0.0024003 0.99990624 -0.02063229] [ 0. 0. 0. 1. ]] SLAMing on 0.511858064 meters Centerline goodness : 0.532064 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.02 [[ 0.99981482 -0.01424014 -0.01294352 0.13058801] [ 0.01428599 0.99989197 0.00345693 0.10479534] [ 0.0128929 -0.0036412 0.99991025 -0.02010185] [ 0. 0. 0. 1. ]] SLAMing on 0.541858064 meters Centerline goodness : 0.224811 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-0.02 [[ 0.99971535 -0.0185494 -0.0150048 0.14420876] [ 0.01862441 0.99981467 0.00487512 0.1128939 ] [ 0.01491159 -0.00515319 0.99987554 -0.02224753] [ 0. 0. 0. 1. ]] SLAMing on 0.5718580639999999 meters Centerline goodness : 0.146754 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-0.02 [[ 0.99968506 -0.01916397 -0.01620269 0.1511488 ] [ 0.01927852 0.99979004 0.0069437 0.11547446] [ 0.01606622 -0.00725388 0.99984462 -0.02381601] [ 0. 0. 0. 1. ]] SLAMing on 0.601858064 meters Centerline goodness : 0.149916 Centerline is valid? [False, False] Translation: X:0.16, Y:0.12, Z:-0.03 [[ 0.99955701 -0.02363621 -0.01808614 0.16483286] [ 0.02378507 0.9996846 0.0080602 0.12153437] [ 0.01788992 -0.00848681 0.99980394 -0.02641889] [ 0. 0. 0. 1. ]] SLAMing on 0.631858064 meters Centerline goodness : 0.151760 Centerline is valid? [False, False] Translation: X:0.19, Y:0.12, Z:-0.03 [[ 0.99956535 -0.0232174 -0.01816766 0.18711042] [ 0.02333435 0.99970817 0.00625214 0.12379468] [ 0.0180172 -0.00667336 0.99981541 -0.02653825] [ 0. 0. 0. 1. ]] SLAMing on 0.6618580639999999 meters Centerline goodness : 0.152640 Centerline is valid? [False, False] Translation: X:0.21, Y:0.13, Z:-0.03 [[ 0.99960425 -0.02294938 -0.01626842 0.20743875] [ 0.02301288 0.99972822 0.00372668 0.12698194] [ 0.01617847 -0.00409958 0.99986072 -0.02691096] [ 0. 0. 0. 1. ]] SLAMing on 0.6918580639999999 meters Centerline goodness : 0.154219 Centerline is valid? [False, False] Translation: X:0.21, Y:0.13, Z:-0.03 [[ 0.99954457 -0.02502155 -0.01686953 0.21180065] [ 0.02507828 0.9996805 0.00315921 0.13018202] [ 0.01678509 -0.00358083 0.99985271 -0.02759211] [ 0. 0. 0. 1. ]] SLAMing on 0.721858064 meters Centerline goodness : 0.155738 Centerline is valid? [False, False] Translation: X:0.24, Y:0.14, Z:-0.03 [[ 0.99951087 -0.02747082 -0.01494589 0.24042422] [ 0.02749717 0.99962066 0.00156062 0.13672682] [ 0.01489735 -0.00197082 0.99988709 -0.03033832] [ 0. 0. 0. 1. ]] SLAMing on 0.751858064 meters Centerline goodness : 0.155104 Centerline is valid? [False, False] Translation: X:0.26, Y:0.14, Z:-0.03 [[ 9.99523692e-01 -2.67410184e-02 -1.54047622e-02 2.62241670e-01] [ 2.67521591e-02 9.99641963e-01 5.17549335e-04 1.38433220e-01] [ 1.53854069e-02 -9.29413471e-04 9.99881206e-01 -3.02653971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.781858064 meters Centerline goodness : 0.155104 Centerline is valid? [False, False] Translation: X:0.26, Y:0.14, Z:-0.03 [[ 9.99523692e-01 -2.67410184e-02 -1.54047622e-02 2.62241670e-01] [ 2.67521591e-02 9.99641963e-01 5.17549335e-04 1.38433220e-01] [ 1.53854069e-02 -9.29413471e-04 9.99881206e-01 -3.02653971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8118580639999999 meters Centerline goodness : 0.147618 Centerline is valid? [False, False] Translation: X:0.28, Y:0.14, Z:-0.03 [[ 9.99520909e-01 -2.64402345e-02 -1.60893129e-02 2.84578504e-01] [ 2.64289016e-02 9.99650275e-01 -9.16631154e-04 1.40502178e-01] [ 1.61079220e-02 4.90969137e-04 9.99870138e-01 -3.04837063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.841858064 meters Centerline goodness : 0.144258 Centerline is valid? [False, False] Translation: X:0.31, Y:0.14, Z:-0.03 [[ 9.99520823e-01 -2.60112724e-02 -1.67790809e-02 3.07381049e-01] [ 2.59911805e-02 9.99661172e-01 -1.41443255e-03 1.41952844e-01] [ 1.68101868e-02 9.77646663e-04 9.99858221e-01 -3.02654645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.871858064 meters Centerline goodness : 0.154471 Centerline is valid? [False, False] Translation: X:0.34, Y:0.15, Z:-0.03 [[ 0.99941941 -0.0298205 -0.01647996 0.34339999] [ 0.029842 0.99955407 0.00106038 0.14600724] [ 0.01644099 -0.00155156 0.99986363 -0.03270114] [ 0. 0. 0. 1. ]] SLAMing on 0.9018580639999999 meters Centerline goodness : 0.137306 Centerline is valid? [False, False] Translation: X:0.35, Y:0.15, Z:-0.03 [[ 0.99928634 -0.03298448 -0.01840754 0.35382765] [ 0.03304575 0.99944924 0.00303383 0.1477566 ] [ 0.01829733 -0.00363996 0.99982596 -0.03367345] [ 0. 0. 0. 1. ]] SLAMing on 0.9318580639999999 meters Centerline goodness : 0.134924 Centerline is valid? [False, False] Translation: X:0.38, Y:0.15, Z:-0.03 [[ 9.99255198e-01 -3.41263756e-02 -1.80122109e-02 3.75884746e-01] [ 3.41390122e-02 9.99417016e-01 3.94445948e-04 1.49821305e-01] [ 1.79882490e-02 -1.00907125e-03 9.99837689e-01 -3.40872200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.961858064 meters Centerline goodness : 0.551586 Centerline is valid? [False, False] Translation: X:0.41, Y:0.15, Z:-0.04 [[ 0.99907159 -0.04077453 -0.01390679 0.41305897] [ 0.0408175 0.99916264 0.00282041 0.15071396] [ 0.01378014 -0.00338543 0.99989932 -0.03699099] [ 0. 0. 0. 1. ]] SLAMing on 0.991858064 meters Centerline goodness : 0.551003 Centerline is valid? [False, False] Translation: X:0.44, Y:0.15, Z:-0.04 [[ 0.99901489 -0.04216911 -0.01382059 0.43561666] [ 0.04219074 0.99910876 0.00127681 0.15145139] [ 0.01375443 -0.00185865 0.99990368 -0.03724538] [ 0. 0. 0. 1. ]] SLAMing on 1.0218580640000001 meters Centerline goodness : 0.534915 Centerline is valid? [False, False] Translation: X:0.46, Y:0.15, Z:-0.04 [[ 0.99897545 -0.04294008 -0.01428954 0.45928801] [ 0.04296806 0.99907507 0.00165706 0.15067303] [ 0.01420517 -0.00226936 0.99989653 -0.03731317] [ 0. 0. 0. 1. ]] SLAMing on 1.0518580640000001 meters Centerline goodness : 0.575871 Centerline is valid? [False, False] Translation: X:0.50, Y:0.15, Z:-0.04 [[ 0.99862009 -0.05062801 -0.01395404 0.50025756] [ 0.05071435 0.99869574 0.00590493 0.15097239] [ 0.01363688 -0.00660445 0.9998852 -0.03931132] [ 0. 0. 0. 1. ]] SLAMing on 1.0818580640000002 meters Centerline goodness : 0.597494 Centerline is valid? [False, False] Translation: X:0.52, Y:0.15, Z:-0.04 [[ 0.99854303 -0.05151446 -0.01606509 0.52307873] [ 0.05158474 0.99866065 0.00399086 0.15169223] [ 0.01583798 -0.00481376 0.99986298 -0.03960229] [ 0. 0. 0. 1. ]] SLAMing on 1.111858064 meters Centerline goodness : 0.593537 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:-0.04 [[ 0.99847941 -0.05229362 -0.0174427 0.54595959] [ 0.0523492 0.99862507 0.00274452 0.15193061] [ 0.01727519 -0.00365346 0.9998441 -0.0399036 ] [ 0. 0. 0. 1. ]] SLAMing on 1.141858064 meters Centerline goodness : 0.644270 Centerline is valid? [False, False] Translation: X:0.59, Y:0.15, Z:-0.04 [[ 0.99805575 -0.06036633 -0.0155124 0.58518914] [ 0.0604681 0.99815102 0.00617683 0.15227999] [ 0.01511084 -0.00710283 0.9998606 -0.04142319] [ 0. 0. 0. 1. ]] SLAMing on 1.171858064 meters Centerline goodness : 0.665104 Centerline is valid? [False, False] Translation: X:0.61, Y:0.15, Z:-0.04 [[ 0.99801872 -0.06128576 -0.0142372 0.60600223] [ 0.06134744 0.99810871 0.00393588 0.15316384] [ 0.01396906 -0.0048015 0.9998909 -0.04189493] [ 0. 0. 0. 1. ]] SLAMing on 1.201858064 meters Centerline goodness : 0.651185 Centerline is valid? [False, False] Translation: X:0.63, Y:0.15, Z:-0.04 [[ 0.99802531 -0.06122541 -0.01403287 0.62793175] [ 0.06127515 0.99811597 0.00314194 0.15330402] [ 0.01381407 -0.00399561 0.9998966 -0.04271238] [ 0. 0. 0. 1. ]] SLAMing on 1.231858064 meters Centerline goodness : 0.677421 Centerline is valid? [False, False] Translation: X:0.65, Y:0.15, Z:-0.04 [[ 0.99800636 -0.06103456 -0.01606518 0.65015208] [ 0.06105888 0.99813364 0.00102691 0.15467965] [ 0.01597251 -0.00200579 0.99987042 -0.04286696] [ 0. 0. 0. 1. ]] SLAMing on 1.2618580640000001 meters Centerline goodness : 0.676644 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.05 [[ 9.97941783e-01 -6.20101972e-02 -1.63381126e-02 6.77188310e-01] [ 6.20222632e-02 9.98074739e-01 2.32368027e-04 1.58319090e-01] [ 1.62922483e-02 -1.24521648e-03 9.99866497e-01 -4.54438514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2918580640000001 meters Centerline goodness : 0.757688 Centerline is valid? [False, False] Translation: X:0.69, Y:0.16, Z:-0.05 [[ 0.99819384 -0.05757761 -0.01714282 0.69389563] [ 0.05751504 0.99833613 -0.00412165 0.16108034] [ 0.01735161 0.00312824 0.99984456 -0.04862115] [ 0. 0. 0. 1. ]] SLAMing on 1.321858064 meters Centerline goodness : 0.754646 Centerline is valid? [False, False] Translation: X:0.71, Y:0.16, Z:-0.05 [[ 0.99843818 -0.05284463 -0.01812876 0.70996468] [ 0.05269577 0.99857364 -0.00859309 0.16379441] [ 0.018557 0.00762436 0.99979873 -0.05149294] [ 0. 0. 0. 1. ]] SLAMing on 1.351858064 meters Centerline goodness : 0.761636 Centerline is valid? [False, False] Translation: X:0.74, Y:0.17, Z:-0.05 [[ 0.99856332 -0.05017279 -0.01881481 0.73582455] [ 0.05004679 0.99872157 -0.00710927 0.16748406] [ 0.01914744 0.00615743 0.99979771 -0.05382319] [ 0. 0. 0. 1. ]] SLAMing on 1.381858064 meters Centerline goodness : 0.747478 Centerline is valid? [False, False] Translation: X:0.75, Y:0.17, Z:-0.06 [[ 0.99879146 -0.04496268 -0.01984891 0.75129211] [ 0.04473593 0.99893005 -0.01172426 0.17051514] [ 0.02035483 0.01082213 0.99973425 -0.05661381] [ 0. 0. 0. 1. ]] SLAMing on 1.411858064 meters Centerline goodness : 0.804620 Centerline is valid? [False, False] Translation: X:0.76, Y:0.17, Z:-0.06 [[ 0.99884842 -0.04315131 -0.0209715 0.75619485] [ 0.04295372 0.99902916 -0.00978302 0.1721758 ] [ 0.0213733 0.00887094 0.99973221 -0.05901512] [ 0. 0. 0. 1. ]] SLAMing on 1.441858064 meters Centerline goodness : 0.814278 Centerline is valid? [False, False] Translation: X:0.76, Y:0.17, Z:-0.06 [[ 0.99891105 -0.04112728 -0.02202846 0.76082171] [ 0.04096793 0.99913127 -0.00763729 0.17361828] [ 0.02232342 0.00672651 0.99972817 -0.06137611] [ 0. 0. 0. 1. ]] SLAMing on 1.471858064 meters Centerline goodness : 0.861138 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.06 [[ 0.99906572 -0.03858908 -0.01945692 0.78244897] [ 0.03844113 0.99922946 -0.00792192 0.17892627] [ 0.01974763 0.00716658 0.99977931 -0.06283392] [ 0. 0. 0. 1. ]] SLAMing on 1.501858064 meters Centerline goodness : 0.868785 Centerline is valid? [False, False] Translation: X:0.80, Y:0.18, Z:-0.06 [[ 0.99922534 -0.03327777 -0.0210075 0.79664936] [ 0.03301308 0.99937265 -0.01282322 0.18227376] [ 0.02142104 0.01211976 0.99969708 -0.06432122] [ 0. 0. 0. 1. ]] SLAMing on 1.5318580640000001 meters Centerline goodness : 0.858636 Centerline is valid? [False, False] Translation: X:0.81, Y:0.18, Z:-0.06 [[ 0.99915083 -0.0334741 -0.02402305 0.80833909] [ 0.03333745 0.99942574 -0.00606662 0.18350462] [ 0.02421233 0.0052606 0.999693 -0.06355593] [ 0. 0. 0. 1. ]] SLAMing on 1.5618580640000002 meters Centerline goodness : 0.883183 Centerline is valid? [False, False] Translation: X:0.81, Y:0.19, Z:-0.07 [[ 0.99917771 -0.03228996 -0.02452083 0.81325021] [ 0.03218154 0.9994705 -0.00480336 0.18891058] [ 0.02466294 0.00401029 0.99968778 -0.06603643] [ 0. 0. 0. 1. ]] SLAMing on 1.591858064 meters Centerline goodness : 0.893488 Centerline is valid? [False, False] Translation: X:0.82, Y:0.19, Z:-0.07 [[ 0.99920423 -0.03060958 -0.02557257 0.81754947] [ 0.03054622 0.99952925 -0.00286493 0.1903435 ] [ 0.02564822 0.00208151 0.99966886 -0.06801401] [ 0. 0. 0. 1. ]] SLAMing on 1.621858064 meters Centerline goodness : 0.884142 Centerline is valid? [False, False] Translation: X:0.83, Y:0.20, Z:-0.07 [[ 0.99938033 -0.02820592 -0.02105656 0.83127052] [ 0.02798991 0.99955323 -0.01048368 0.1961957 ] [ 0.02134286 0.00988782 0.99972332 -0.07218734] [ 0. 0. 0. 1. ]] SLAMing on 1.651858064 meters Centerline goodness : 0.765361 Centerline is valid? [False, False] Translation: X:0.85, Y:0.20, Z:-0.08 [[ 0.99938501 -0.02970922 -0.01862675 0.84745466] [ 0.02965452 0.99955507 -0.00320596 0.19866147] [ 0.01871371 0.00265162 0.99982137 -0.07657106] [ 0. 0. 0. 1. ]] SLAMing on 1.681858064 meters Centerline goodness : 0.905584 Centerline is valid? [False, False] Translation: X:0.85, Y:0.20, Z:-0.08 [[ 9.99412730e-01 -2.80230453e-02 -1.97206750e-02 8.51747497e-01] [ 2.80027679e-02 9.99606995e-01 -1.30367553e-03 2.00445555e-01] [ 1.97494576e-02 7.50676430e-04 9.99804679e-01 -7.85210800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.711858064 meters Centerline goodness : 0.922148 Centerline is valid? [False, False] Translation: X:0.87, Y:0.21, Z:-0.08 [[ 0.99956389 -0.0256381 -0.01465341 0.86544433] [ 0.02552152 0.99964155 -0.00808856 0.2062117 ] [ 0.01485553 0.00771106 0.99985992 -0.08258947] [ 0. 0. 0. 1. ]] SLAMing on 1.741858064 meters Centerline goodness : 0.915360 Centerline is valid? [False, False] Translation: X:0.88, Y:0.21, Z:-0.09 [[ 0.99967011 -0.02274753 -0.01192531 0.88157515] [ 0.02256997 0.99963545 -0.014818 0.21201272] [ 0.01225803 0.01454395 0.99981909 -0.0868417 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7718580640000001 meters Centerline goodness : 0.931605 Centerline is valid? [False, False] Translation: X:0.89, Y:0.22, Z:-0.09 [[ 0.99967031 -0.02213912 -0.01300538 0.88773513] [ 0.02195945 0.99966363 -0.01379918 0.21656482] [ 0.01330651 0.01350904 0.99982021 -0.08933122] [ 0. 0. 0. 1. ]] SLAMing on 1.801858064 meters Centerline goodness : 0.934019 Centerline is valid? [False, False] Translation: X:0.89, Y:0.22, Z:-0.09 [[ 0.99963266 -0.02306776 -0.01422736 0.89131043] [ 0.02285479 0.99962695 -0.01495399 0.2188724 ] [ 0.01456701 0.01462333 0.99978696 -0.0904429 ] [ 0. 0. 0. 1. ]] SLAMing on 1.831858064 meters Centerline goodness : 0.938001 Centerline is valid? [False, False] Translation: X:0.89, Y:0.22, Z:-0.09 [[ 0.99959546 -0.02399117 -0.01527543 0.89436512] [ 0.02374674 0.99959018 -0.01598664 0.2209189 ] [ 0.01565271 0.01561743 0.99975551 -0.09122524] [ 0. 0. 0. 1. ]] SLAMing on 1.861858064 meters Centerline goodness : 0.943879 Centerline is valid? [False, False] Translation: X:0.90, Y:0.22, Z:-0.09 [[ 0.99958049 -0.02378597 -0.01652517 0.90004963] [ 0.02353526 0.99960739 -0.01520377 0.22396206] [ 0.01688032 0.01480846 0.99974785 -0.09329367] [ 0. 0. 0. 1. ]] SLAMing on 1.891858064 meters Centerline goodness : 0.944225 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.09 [[ 0.99956289 -0.02551332 -0.01493622 0.91091259] [ 0.02542028 0.99965645 -0.00638647 0.22266177] [ 0.01509403 0.006004 0.99986805 -0.09381366] [ 0. 0. 0. 1. ]] SLAMing on 1.921858064 meters Centerline goodness : 0.946104 Centerline is valid? [False, False] Translation: X:0.92, Y:0.23, Z:-0.10 [[ 0.9996858 -0.02376887 -0.007959 0.92346391] [ 0.02366836 0.9996418 -0.01249361 0.22761973] [ 0.00825311 0.01230131 0.99989028 -0.0979138 ] [ 0. 0. 0. 1. ]] SLAMing on 1.951858064 meters Centerline goodness : 0.949606 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.10 [[ 0.99972735 -0.02153405 -0.00902805 0.92671896] [ 0.021446 0.99972257 -0.0097397 0.22847453] [ 0.00923528 0.00954343 0.99991181 -0.09881055] [ 0. 0. 0. 1. ]] SLAMing on 1.981858064 meters Centerline goodness : 0.953152 Centerline is valid? [False, True] Translation: X:0.95, Y:0.23, Z:-0.10 [[ 0.99976414 -0.02088297 -0.00596379 0.9472714 ] [ 0.02081602 0.99972197 -0.01107577 0.23292493] [ 0.00619343 0.01094902 0.99992088 -0.09934116] [ 0. 0. 0. 1. ]] SLAMing on 2.0118580639999997 meters Centerline goodness : 0.955109 Centerline is valid? [True, True] Translation: X:0.97, Y:0.23, Z:-0.10 [[ 0.99981711 -0.01805561 -0.00630432 0.97192857] [ 0.01804871 0.99983645 -0.00115055 0.22897079] [ 0.00632406 0.00103656 0.99997947 -0.10401162] [ 0. 0. 0. 1. ]] SLAMing on 2.041858064 meters Centerline goodness : 0.955657 Centerline is valid? [True, True] Translation: X:1.01, Y:0.23, Z:-0.10 [[ 9.99782151e-01 -1.98920805e-02 -6.32101184e-03 1.00769188e+00] [ 1.98883260e-02 9.99801992e-01 -6.56283925e-04 2.30309213e-01] [ 6.33281508e-03 5.30426611e-04 9.99979807e-01 -9.61936820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0718580639999997 meters Centerline goodness : 0.960757 Centerline is valid? [True, True] Translation: X:1.04, Y:0.23, Z:-0.10 [[ 9.99840102e-01 -1.67259116e-02 -6.32574357e-03 1.04254581e+00] [ 1.67229954e-02 9.99860029e-01 -5.13618504e-04 2.30396592e-01] [ 6.33344889e-03 4.07750997e-04 9.99979860e-01 -9.85222888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.101858064 meters Centerline goodness : 0.962071 Centerline is valid? [True, True] Translation: X:1.08, Y:0.23, Z:-0.09 [[ 9.99779305e-01 -2.00319763e-02 -6.32934828e-03 1.07868238e+00] [ 2.00298296e-02 9.99799302e-01 -4.02374612e-04 2.33707834e-01] [ 6.33613835e-03 2.75510043e-04 9.99979889e-01 -9.48466866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1318580639999998 meters Centerline goodness : 0.963794 Centerline is valid? [True, True] Translation: X:1.11, Y:0.24, Z:-0.10 [[ 9.99679026e-01 -2.45303464e-02 -6.33306503e-03 1.10505828e+00] [ 2.45290314e-02 9.99699077e-01 -2.85243020e-04 2.41466257e-01] [ 6.33815638e-03 1.29807514e-04 9.99979905e-01 -1.03987087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.161858064 meters Centerline goodness : 0.966489 Centerline is valid? [True, True] Translation: X:1.14, Y:0.24, Z:-0.10 [[ 9.99759437e-01 -2.09994689e-02 -6.33170367e-03 1.13694725e+00] [ 2.09978131e-02 9.99779468e-01 -3.27880930e-04 2.41268718e-01] [ 6.33719265e-03 1.94850124e-04 9.99979901e-01 -1.00431383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.191858064 meters Centerline goodness : 0.966107 Centerline is valid? [True, True] Translation: X:1.15, Y:0.25, Z:-0.10 [[ 9.99618658e-01 -2.68780024e-02 -6.33342991e-03 1.14956773e+00] [ 2.68767811e-02 9.99638715e-01 -2.77882508e-04 2.53922954e-01] [ 6.33861067e-03 1.07554331e-04 9.99979905e-01 -1.00302268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2218580639999996 meters Centerline goodness : 0.969388 Centerline is valid? [True, True] Translation: X:1.20, Y:0.25, Z:-0.10 [[ 9.99788521e-01 -1.95693184e-02 -6.32097793e-03 1.19549548e+00] [ 1.95657936e-02 9.99808380e-01 -6.18997886e-04 2.45352238e-01] [ 6.33188007e-03 4.95192032e-04 9.99979831e-01 -1.00148877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.251858064 meters Centerline goodness : 0.971687 Centerline is valid? [True, True] Translation: X:1.22, Y:0.25, Z:-0.10 [[ 9.99772258e-01 -2.03800105e-02 -6.33146203e-03 1.22039513e+00] [ 2.03786058e-02 9.99792294e-01 -2.86299944e-04 2.53102009e-01] [ 6.33598174e-03 1.57208373e-04 9.99979915e-01 -1.03126999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2818580639999997 meters Centerline goodness : 0.970042 Centerline is valid? [True, True] Translation: X:1.24, Y:0.26, Z:-0.09 [[ 9.99624838e-01 -2.66483280e-02 -6.32848436e-03 1.24008829e+00] [ 2.66465522e-02 9.99644851e-01 -3.64763619e-04 2.64960297e-01] [ 6.33595714e-03 1.95994485e-04 9.99979908e-01 -9.26231518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.311858064 meters Centerline goodness : 0.974666 Centerline is valid? [True, True] Translation: X:1.28, Y:0.26, Z:-0.10 [[ 9.99830988e-01 -1.72642225e-02 -6.32000037e-03 1.27912744e+00] [ 1.72608882e-02 9.99850851e-01 -5.81742234e-04 2.56953058e-01] [ 6.32910107e-03 4.72555093e-04 9.99979859e-01 -1.01130651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3418580639999997 meters Centerline goodness : 0.976545 Centerline is valid? [True, True] Translation: X:1.31, Y:0.26, Z:-0.09 [[ 9.99816712e-01 -1.80699620e-02 -6.32611657e-03 1.31482258e+00] [ 1.80678923e-02 9.99836689e-01 -3.84168693e-04 2.59379454e-01] [ 6.33202536e-03 2.69798686e-04 9.99979916e-01 -9.41280227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.371858064 meters Centerline goodness : 0.976697 Centerline is valid? [True, True] Translation: X:1.34, Y:0.26, Z:-0.09 [[ 9.99826844e-01 -1.74991621e-02 -6.32938963e-03 1.34411001e+00] [ 1.74977619e-02 9.99846864e-01 -2.76532323e-04 2.61007348e-01] [ 6.33325945e-03 1.65734287e-04 9.99979931e-01 -9.25675604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.401858064 meters Centerline goodness : 0.976852 Centerline is valid? [True, True] Translation: X:1.37, Y:0.26, Z:-0.09 [[ 9.99854802e-01 -1.58213584e-02 -6.32929488e-03 1.37006270e+00] [ 1.58199049e-02 9.99874818e-01 -2.79643745e-04 2.62051014e-01] [ 6.33292691e-03 1.79474299e-04 9.99979931e-01 -9.23634353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4318580639999996 meters Centerline goodness : 0.978797 Centerline is valid? [True, True] Translation: X:1.40, Y:0.26, Z:-0.09 [[ 9.99891596e-01 -1.32948249e-02 -6.32801153e-03 1.39757446e+00] [ 1.32930551e-02 9.99911592e-01 -3.21647689e-04 2.64724313e-01] [ 6.33172833e-03 2.37494215e-04 9.99979926e-01 -9.31968733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461858064 meters Centerline goodness : 0.979420 Centerline is valid? [True, True] Translation: X:1.43, Y:0.27, Z:-0.09 [[ 9.99871156e-01 -1.47526019e-02 -6.32706852e-03 1.43215792e+00] [ 1.47506669e-02 9.99891141e-01 -3.52387199e-04 2.66752082e-01] [ 6.33157839e-03 2.59013316e-04 9.99979922e-01 -8.89493479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4918580639999997 meters Centerline goodness : 0.980797 Centerline is valid? [True, True] Translation: X:1.46, Y:0.27, Z:-0.09 [[ 9.99877094e-01 -1.43434309e-02 -6.32953218e-03 1.46397964e+00] [ 1.43420035e-02 9.99897111e-01 -2.70838755e-04 2.68246095e-01] [ 6.33276570e-03 1.80027294e-04 9.99979932e-01 -8.97826611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.521858064 meters Centerline goodness : 0.981886 Centerline is valid? [True, True] Translation: X:1.49, Y:0.27, Z:-0.09 [[ 9.99909592e-01 -1.18632199e-02 -6.33021217e-03 1.49360821e+00] [ 1.18618857e-02 9.99929615e-01 -2.48262355e-04 2.69935330e-01] [ 6.33271180e-03 1.73151657e-04 9.99979933e-01 -8.87761934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5518580639999997 meters Centerline goodness : 0.982645 Centerline is valid? [True, True] Translation: X:1.52, Y:0.27, Z:-0.09 [[ 9.99947384e-01 -8.07226635e-03 -6.32998610e-03 1.52349127e+00] [ 8.07080885e-03 9.99967398e-01 -2.55764241e-04 2.74376597e-01] [ 6.33184433e-03 2.04662676e-04 9.99979933e-01 -8.88160583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.581858064 meters Centerline goodness : 0.984469 Centerline is valid? [True, True] Translation: X:1.56, Y:0.28, Z:-0.08 [[ 9.99923897e-01 -1.05887054e-02 -6.33078820e-03 1.56013044e+00] [ 1.05874674e-02 9.99943925e-01 -2.29036327e-04 2.76797649e-01] [ 6.33285840e-03 1.61991883e-04 9.99979934e-01 -8.24886656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6118580639999998 meters Centerline goodness : 0.984655 Centerline is valid? [True, True] Translation: X:1.58, Y:0.28, Z:-0.08 [[ 9.99978197e-01 -1.86730538e-03 -6.33397779e-03 1.58071741e+00] [ 1.86657601e-03 9.99998251e-01 -1.21061213e-04 2.79556280e-01] [ 6.33419277e-03 1.09235723e-04 9.99979933e-01 -8.40136941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6418580639999996 meters Centerline goodness : 0.986105 Centerline is valid? [True, True] Translation: X:1.62, Y:0.28, Z:-0.08 [[ 9.99979185e-01 -1.24866527e-03 -6.33011953e-03 1.62065469e+00] [ 1.24711278e-03 9.99999191e-01 -2.49195878e-04 2.83733798e-01] [ 6.33042558e-03 2.41296318e-04 9.99979934e-01 -8.48761853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.671858064 meters Centerline goodness : 0.986105 Centerline is valid? [True, True] Translation: X:1.65, Y:0.28, Z:-0.08 [[ 9.99978895e-01 -1.44398159e-03 -6.33440030e-03 1.65070585e+00] [ 1.44335002e-03 9.99998953e-01 -1.04275278e-04 2.84755395e-01] [ 6.33454423e-03 9.51303206e-05 9.99979932e-01 -8.46786740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7018580639999996 meters Centerline goodness : 0.986892 Centerline is valid? [True, True] Translation: X:1.68, Y:0.29, Z:-0.08 [[ 9.99977423e-01 2.24288453e-03 -6.33434176e-03 1.67805510e+00] [-2.24360255e-03 9.99997477e-01 -1.06250028e-04 2.86105359e-01] [ 6.33408748e-03 1.20459375e-04 9.99979932e-01 -8.49648349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.731858064 meters Centerline goodness : 0.986766 Centerline is valid? [True, True] Translation: X:1.70, Y:0.29, Z:-0.09 [[ 9.99950870e-01 7.62515618e-03 -6.33364068e-03 1.70373976e+00] [-7.62613052e-03 9.99970912e-01 -1.29698695e-04 2.87860227e-01] [ 6.33246748e-03 1.77993493e-04 9.99979934e-01 -8.75333678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7618580639999997 meters Centerline goodness : 0.987938 Centerline is valid? [True, True] Translation: X:1.74, Y:0.29, Z:-0.08 [[ 9.99953407e-01 7.28672185e-03 -6.33148319e-03 1.73797250e+00] [-7.28814144e-03 9.99973421e-01 -2.01166663e-04 2.91636329e-01] [ 6.32984906e-03 2.47302035e-04 9.99979936e-01 -8.25732978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.791858064 meters Centerline goodness : 0.988109 Centerline is valid? [True, True] Translation: X:1.76, Y:0.30, Z:-0.08 [[ 9.99815446e-01 1.81374054e-02 -6.33316320e-03 1.76464030e+00] [-1.81386908e-02 9.99835470e-01 -1.45573507e-04 3.03436711e-01] [ 6.32948088e-03 2.60421929e-04 9.99979935e-01 -7.83554266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8218580639999997 meters Centerline goodness : 0.988948 Centerline is valid? [True, True] Translation: X:1.79, Y:0.31, Z:-0.08 [[ 9.99783127e-01 1.98395697e-02 -6.33171520e-03 1.79331517e+00] [-1.98411892e-02 9.99803126e-01 -1.93062817e-04 3.05882024e-01] [ 6.32663836e-03 3.18649706e-04 9.99979936e-01 -7.75846080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.851858064 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:1.86, Y:0.30, Z:-0.07 [[ 9.99891588e-01 1.32936658e-02 -6.33170367e-03 1.85982795e+00] [-1.32951568e-02 9.99911597e-01 -1.93440235e-04 2.99332222e-01] [ 6.32857239e-03 2.77600257e-04 9.99979936e-01 -7.29071876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8818580639999998 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:1.85, Y:0.31, Z:-0.08 [[ 9.99690086e-01 2.40713361e-02 -6.34851225e-03 1.84923754e+00] [-2.40690237e-02 9.99710202e-01 4.40404733e-04 3.08019956e-01] [ 6.35727359e-03 -2.87465753e-04 9.99979751e-01 -7.65751871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9118580639999996 meters Centerline goodness : 0.990460 Centerline is valid? [True, True] Translation: X:1.88, Y:0.31, Z:-0.07 [[ 9.99642996e-01 2.59580573e-02 -6.32933906e-03 1.87810357e+00] [-2.59597912e-02 9.99662969e-01 -1.91927129e-04 3.11075453e-01] [ 6.32222382e-03 3.56166930e-04 9.99979951e-01 -7.06500746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.941858064 meters Centerline goodness : 0.991228 Centerline is valid? [True, True] Translation: X:1.92, Y:0.30, Z:-0.07 [[ 9.99481238e-01 3.15783963e-02 -6.32932608e-03 1.91825189e+00] [-3.15802452e-02 9.99501201e-01 -1.92354102e-04 3.02993013e-01] [ 6.32009479e-03 3.92135985e-04 9.99979951e-01 -7.08383634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9718580639999996 meters Centerline goodness : 0.992054 Centerline is valid? [True, True] Translation: X:1.99, Y:0.32, Z:-0.07 [[ 9.99936001e-01 9.37379910e-03 -6.33451946e-03 1.99169373e+00] [-9.37408579e-03 9.99956062e-01 -1.55683804e-05 3.15114640e-01] [ 6.33409520e-03 7.49477129e-05 9.99979937e-01 -7.18201998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.001858064 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:2.03, Y:0.32, Z:-0.07 [[ 9.99978287e-01 1.76157491e-03 -6.34996036e-03 2.02870802e+00] [-1.75742056e-03 9.99998238e-01 6.59751938e-04 3.15273704e-01] [ 6.35111137e-03 -6.48578062e-04 9.99979621e-01 -7.00256343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0318580639999997 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:2.04, Y:0.32, Z:-0.06 [[ 9.99973571e-01 -3.53833715e-03 -6.35115828e-03 2.03921010e+00] [ 3.54286804e-03 9.99993477e-01 7.02287952e-04 3.24993315e-01] [ 6.34863192e-03 -7.24770707e-04 9.99979585e-01 -6.39263724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.061858064 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:2.08, Y:0.33, Z:-0.07 [[ 9.99960912e-01 -6.16149006e-03 -6.34118569e-03 2.07723543e+00] [ 6.16410868e-03 9.99980924e-01 3.93492448e-04 3.25220861e-01] [ 6.33864022e-03 -4.32564825e-04 9.99979817e-01 -7.32603623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0918580639999997 meters Centerline goodness : 0.992399 Centerline is valid? [True, True] Translation: X:2.10, Y:0.33, Z:-0.06 [[ 9.99890455e-01 -1.33717129e-02 -6.34632421e-03 2.10111022e+00] [ 1.33755636e-02 9.99910384e-01 5.64698266e-04 3.30061412e-01] [ 6.33820449e-03 -6.49522069e-04 9.99979702e-01 -6.49001076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.121858064 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:2.08, Y:0.33, Z:-0.07 [[ 9.99979133e-01 1.22367759e-03 -6.34318295e-03 2.07555297e+00] [-1.22071431e-03 9.99999144e-01 4.71009960e-04 3.28773678e-01] [ 6.34375388e-03 -4.63256918e-04 9.99979771e-01 -6.92717974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.151858064 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:2.11, Y:0.32, Z:-0.07 [[ 9.99971515e-01 4.13293070e-03 -6.31570219e-03 2.11388926e+00] [-4.13454818e-03 9.99991423e-01 -2.43069030e-04 3.22236726e-01] [ 6.31464343e-03 2.69174681e-04 9.99980026e-01 -6.79965045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1818580639999996 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:2.18, Y:0.33, Z:-0.07 [[ 9.99826375e-01 -1.75290931e-02 -6.32070912e-03 2.17790775e+00] [ 1.75287335e-02 9.99846354e-01 -1.12298444e-04 3.34874390e-01] [ 6.32170646e-03 1.48492084e-06 9.99980018e-01 -6.94002914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.211858064 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:2.16, Y:0.33, Z:-0.07 [[ 9.99961702e-01 -6.03218576e-03 -6.34091059e-03 2.15923990e+00] [ 6.03512406e-03 9.99981690e-01 4.44355638e-04 3.32908802e-01] [ 6.33811405e-03 -4.82606803e-04 9.99979797e-01 -6.78716872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2418580639999997 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:2.19, Y:0.34, Z:-0.07 [[ 9.99954026e-01 -7.21799549e-03 -6.31240897e-03 2.18586581e+00] [ 7.21651892e-03 9.99973928e-01 -2.56661068e-04 3.35275896e-01] [ 6.31409697e-03 2.11095650e-04 9.99980044e-01 -6.86303868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.271858064 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:2.26, Y:0.34, Z:-0.07 [[ 9.99946698e-01 -8.17036341e-03 -6.31238014e-03 2.26351646e+00] [ 8.16890134e-03 9.99966601e-01 -2.57368151e-04 3.38102372e-01] [ 6.31427210e-03 2.05789222e-04 9.99980044e-01 -6.51653232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3018580639999997 meters Centerline goodness : 0.992968 Centerline is valid? [True, True] Translation: X:2.24, Y:0.34, Z:-0.07 [[ 9.99952799e-01 -7.36220680e-03 -6.34021995e-03 2.23973145e+00] [ 7.36568104e-03 9.99972735e-01 5.24791641e-04 3.37931374e-01] [ 6.33618347e-03 -5.71466908e-04 9.99979763e-01 -6.91387330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.331858064 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:2.27, Y:0.34, Z:-0.07 [[ 9.99957236e-01 -6.76209155e-03 -6.30874701e-03 2.26776479e+00] [ 6.76061888e-03 9.99977114e-01 -2.54729444e-04 3.43744662e-01] [ 6.31032513e-03 2.12067516e-04 9.99980067e-01 -6.80426503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3618580639999998 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:2.30, Y:0.35, Z:-0.07 [[ 9.99957756e-01 -6.68479131e-03 -6.30872698e-03 2.29619762e+00] [ 6.68331398e-03 9.99977634e-01 -2.55224509e-04 3.47095016e-01] [ 6.31029200e-03 2.13050524e-04 9.99980067e-01 -6.65026740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3918580639999996 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:2.32, Y:0.35, Z:-0.07 [[ 9.99959970e-01 -6.34500008e-03 -6.30867057e-03 2.32421896e+00] [ 6.34350726e-03 9.99979847e-01 -2.56611446e-04 3.50117879e-01] [ 6.31017163e-03 2.16582076e-04 9.99980067e-01 -6.61376059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.421858064 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:2.35, Y:0.35, Z:-0.06 [[ 9.99964729e-01 -5.54451988e-03 -6.30860599e-03 2.35257408e+00] [ 5.54300121e-03 9.99984604e-01 -2.58189369e-04 3.54874273e-01] [ 6.30994040e-03 2.23211652e-04 9.99980067e-01 -6.48712971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4518580639999996 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:2.41, Y:0.36, Z:-0.06 [[ 9.99974206e-01 -3.43369815e-03 -6.30854949e-03 2.41204527e+00] [ 3.43212888e-03 9.99994077e-01 -2.59562554e-04 3.62482297e-01] [ 6.30940338e-03 2.37904103e-04 9.99980067e-01 -5.93568755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.481858064 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:2.44, Y:0.36, Z:-0.06 [[ 9.99875304e-01 -1.44691214e-02 -6.32618645e-03 2.44378138e+00] [ 1.44707306e-02 9.99895272e-01 2.08666717e-04 3.62880686e-01] [ 6.32250469e-03 -3.00185237e-04 9.99979968e-01 -6.35921812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5118580639999997 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:2.47, Y:0.37, Z:-0.05 [[ 9.99979146e-01 1.29833547e-03 -6.32634071e-03 2.47371404e+00] [-1.29701586e-03 9.99999136e-01 2.12688058e-04 3.66994871e-01] [ 6.32661138e-03 -2.04478258e-04 9.99979966e-01 -5.45248838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.541858064 meters Centerline goodness : 0.997083 Centerline is valid? [True, True] Translation: X:2.48, Y:0.37, Z:-0.06 [[ 9.99964826e-01 -5.51280712e-03 -6.32105108e-03 2.47829537e+00] [ 5.51358741e-03 9.99984794e-01 1.06023260e-04 3.70321481e-01] [ 6.32037048e-03 -1.40871198e-04 9.99980016e-01 -5.88481184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5718580639999997 meters Centerline goodness : 0.995755 Centerline is valid? [True, True] Translation: X:2.51, Y:0.38, Z:-0.06 [[ 9.99928595e-01 -1.01548938e-02 -6.29949900e-03 2.50515411e+00] [ 1.01531685e-02 9.99948408e-01 -3.05806921e-04 3.77407833e-01] [ 6.30227944e-03 2.41825210e-04 9.99980111e-01 -6.21763144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6018580639999995 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:2.54, Y:0.38, Z:-0.06 [[ 9.99979483e-01 -1.16869506e-03 -6.29820895e-03 2.53776716e+00] [ 1.16663721e-03 9.99999265e-01 -3.30398491e-04 3.77161899e-01] [ 6.29859046e-03 3.23043987e-04 9.99980112e-01 -5.99991330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6318580639999998 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:2.56, Y:0.39, Z:-0.07 [[ 9.99977189e-01 -2.43008389e-03 -6.30200485e-03 2.56369178e+00] [ 2.42850733e-03 9.99997018e-01 -2.57808935e-04 3.88757513e-01] [ 6.30261255e-03 2.42498589e-04 9.99980109e-01 -6.69634218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6618580639999996 meters Centerline goodness : 0.995966 Centerline is valid? [True, True] Translation: X:2.61, Y:0.39, Z:-0.06 [[ 9.99978740e-01 -1.68873541e-03 -6.29817282e-03 2.60840998e+00] [ 1.68668550e-03 9.99998523e-01 -3.30773872e-04 3.93182002e-01] [ 6.29872211e-03 3.20143803e-04 9.99980112e-01 -6.01409673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.691858064 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:2.62, Y:0.40, Z:-0.06 [[ 9.99980065e-01 2.09811386e-04 -6.31074625e-03 2.62392131e+00] [-2.10365917e-04 9.99999974e-01 -8.72072391e-05 3.95083880e-01] [ 6.31072779e-03 8.85330665e-05 9.99980083e-01 -6.20703372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7218580639999996 meters Centerline goodness : 0.996215 Centerline is valid? [True, True] Translation: X:2.65, Y:0.40, Z:-0.06 [[ 9.99975972e-01 -2.89716679e-03 -6.29771189e-03 2.65125617e+00] [ 2.89512432e-03 9.99995754e-01 -3.33412402e-04 3.98355194e-01] [ 6.29865110e-03 3.15171732e-04 9.99980114e-01 -6.29437481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.751858064 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:2.68, Y:0.40, Z:-0.06 [[ 9.99977037e-01 -2.50285060e-03 -6.29768503e-03 2.67914915e+00] [ 2.50079715e-03 9.99996817e-01 -3.33918936e-04 4.01136929e-01] [ 6.29850074e-03 3.18162035e-04 9.99980114e-01 -6.37331616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7818580639999997 meters Centerline goodness : 0.996830 Centerline is valid? [True, True] Translation: X:2.71, Y:0.40, Z:-0.06 [[ 9.99975128e-01 -3.17544740e-03 -6.29764519e-03 2.70675394e+00] [ 3.17340254e-03 9.99994909e-01 -3.34668646e-04 4.03983765e-01] [ 6.29867585e-03 3.14675359e-04 9.99980114e-01 -6.37801334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.811858064 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:2.73, Y:0.41, Z:-0.06 [[ 9.99974232e-01 -3.44629136e-03 -6.29756531e-03 2.73445557e+00] [ 3.44424246e-03 9.99994012e-01 -3.36165166e-04 4.06734782e-01] [ 6.29868612e-03 3.14466162e-04 9.99980114e-01 -6.36420626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8418580639999997 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:2.76, Y:0.41, Z:-0.06 [[ 9.99963366e-01 -5.79712484e-03 -6.29754053e-03 2.76245072e+00] [ 5.79511953e-03 9.99983151e-01 -3.36628780e-04 4.10714849e-01] [ 6.29938590e-03 3.00121448e-04 9.99980114e-01 -6.48974496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8718580639999995 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:2.79, Y:0.41, Z:-0.06 [[ 9.99958850e-01 -6.52983703e-03 -6.29751585e-03 2.79056930e+00] [ 6.52784332e-03 9.99978637e-01 -3.37089761e-04 4.13372124e-01] [ 6.29958246e-03 2.95966693e-04 9.99980114e-01 -6.35569883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.901858064 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:2.82, Y:0.42, Z:-0.06 [[ 9.99942486e-01 -8.68145168e-03 -6.29743439e-03 2.81855264e+00] [ 8.67949103e-03 9.99962275e-01 -3.38604845e-04 4.16524698e-01] [ 6.30013640e-03 2.83926845e-04 9.99980114e-01 -6.38419531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9318580639999996 meters Centerline goodness : 0.997632 Centerline is valid? [True, True] Translation: X:2.85, Y:0.42, Z:-0.06 [[ 9.99920003e-01 -1.09695193e-02 -6.29735461e-03 2.84596692e+00] [ 1.09675946e-02 9.99939796e-01 -3.40082122e-04 4.19706435e-01] [ 6.30070602e-03 2.70988084e-04 9.99980114e-01 -6.44367011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.961858064 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:2.87, Y:0.42, Z:-0.07 [[ 9.99892470e-01 -1.32435627e-02 -6.29727878e-03 2.87389391e+00] [ 1.32416743e-02 9.99912267e-01 -3.41480500e-04 4.23488326e-01] [ 6.30124872e-03 2.58057267e-04 9.99980114e-01 -6.52539777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9918580639999997 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:2.90, Y:0.43, Z:-0.07 [[ 9.99881054e-01 -1.40791829e-02 -6.29725350e-03 2.90128325e+00] [ 1.40773081e-02 9.99900851e-01 -3.41945987e-04 4.25914280e-01] [ 6.30144346e-03 2.53256936e-04 9.99980114e-01 -6.53495735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.021858064 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:2.93, Y:0.43, Z:-0.06 [[ 9.99869514e-01 -1.48761508e-02 -6.29721562e-03 2.92946811e+00] [ 1.48742874e-02 9.99889313e-01 -3.42642159e-04 4.28190887e-01] [ 6.30161580e-03 2.48930854e-04 9.99980114e-01 -6.47114084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.051858064 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:2.96, Y:0.43, Z:-0.06 [[ 9.99831835e-01 -1.72234520e-02 -6.29714077e-03 2.95753398e+00] [ 1.72216265e-02 9.99851638e-01 -3.44012341e-04 4.31833187e-01] [ 6.30213159e-03 2.35507484e-04 9.99980114e-01 -6.37734669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.081858064 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:2.99, Y:0.43, Z:-0.06 [[ 9.99807173e-01 -1.86000892e-02 -6.29711582e-03 2.98567594e+00] [ 1.85982881e-02 9.99826978e-01 -3.44468387e-04 4.34925458e-01] [ 6.30243342e-03 2.27286390e-04 9.99980114e-01 -6.29517581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.111858064 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:3.01, Y:0.44, Z:-0.06 [[ 9.99794284e-01 -1.92804991e-02 -6.29703986e-03 3.01401736e+00] [ 1.92787027e-02 9.99814089e-01 -3.45851499e-04 4.37514989e-01] [ 6.30253736e-03 2.24381592e-04 9.99980114e-01 -6.21452237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.141858064 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:3.04, Y:0.44, Z:-0.06 [[ 9.99767199e-01 -2.06372657e-02 -6.29696396e-03 3.04217297e+00] [ 2.06354876e-02 9.99787005e-01 -3.47227905e-04 4.40851876e-01] [ 6.30278857e-03 2.17206149e-04 9.99980114e-01 -6.07515200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.171858064 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:3.07, Y:0.44, Z:-0.06 [[ 9.99760150e-01 -2.09759488e-02 -6.29692942e-03 3.07053945e+00] [ 2.09741734e-02 9.99779957e-01 -3.47853236e-04 4.43148790e-01] [ 6.30284037e-03 2.15696914e-04 9.99980114e-01 -5.99360883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2018580640000005 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:3.10, Y:0.45, Z:-0.06 [[ 9.99750782e-01 -2.14178175e-02 -6.29686352e-03 3.09924238e+00] [ 2.14160434e-02 9.99770589e-01 -3.49041962e-04 4.45512092e-01] [ 6.30289467e-03 2.14101072e-04 9.99980114e-01 -5.97189953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.231858064 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:3.13, Y:0.45, Z:-0.06 [[ 9.99792693e-01 -1.93629012e-02 -6.29679483e-03 3.12682759e+00] [ 1.93610787e-02 9.99812495e-01 -3.50276896e-04 4.47709161e-01] [ 6.30239653e-03 2.28291541e-04 9.99980114e-01 -6.01916416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.261858064 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:3.16, Y:0.45, Z:-0.06 [[ 9.99803291e-01 -1.88077011e-02 -6.29677045e-03 3.15553257e+00] [ 1.88058648e-02 9.99823093e-01 -3.50714515e-04 4.51257436e-01] [ 6.30225264e-03 2.32229313e-04 9.99980114e-01 -5.82150152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.291858064 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:3.18, Y:0.46, Z:-0.06 [[ 9.99828358e-01 -1.74243039e-02 -6.29670495e-03 3.18400697e+00] [ 1.74224328e-02 9.99848156e-01 -3.51886706e-04 4.55013383e-01] [ 6.30188021e-03 2.42122389e-04 9.99980114e-01 -5.71034492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.321858064000001 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:3.21, Y:0.46, Z:-0.06 [[ 9.99888094e-01 -1.35702678e-02 -6.29663693e-03 3.21258428e+00] [ 1.35683128e-02 9.99907884e-01 -3.53099543e-04 4.58832961e-01] [ 6.30084857e-03 2.67625290e-04 9.99980114e-01 -5.76946603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.351858064 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:3.24, Y:0.46, Z:-0.06 [[ 9.99907467e-01 -1.20586550e-02 -6.29656901e-03 3.24105952e+00] [ 1.20566625e-02 9.99927253e-01 -3.54306661e-04 4.60442878e-01] [ 6.30038341e-03 2.78358268e-04 9.99980114e-01 -5.78135108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.381858064 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:3.27, Y:0.46, Z:-0.06 [[ 9.99908170e-01 -1.20002345e-02 -6.29650070e-03 3.26904988e+00] [ 1.19982333e-02 9.99927955e-01 -3.55516507e-04 4.62801855e-01] [ 6.30031335e-03 2.79936975e-04 9.99980114e-01 -5.77614013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4118580640000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:3.30, Y:0.46, Z:-0.06 [[ 9.99919837e-01 -1.09851792e-02 -6.29647639e-03 3.29643647e+00] [ 1.09831552e-02 9.99939620e-01 -3.55946484e-04 4.64771932e-01] [ 6.30000634e-03 2.86762773e-04 9.99980114e-01 -5.64204184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.441858064 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:3.32, Y:0.47, Z:-0.06 [[ 9.99928347e-01 -1.01811683e-02 -6.29645247e-03 3.32398020e+00] [ 1.01791257e-02 9.99948128e-01 -3.56369099e-04 4.67727594e-01] [ 6.29975411e-03 2.92251183e-04 9.99980114e-01 -5.53384753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.471858064 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:3.35, Y:0.47, Z:-0.05 [[ 9.99920456e-01 -1.09287385e-02 -6.29635954e-03 3.35170523e+00] [ 1.09267004e-02 9.99940238e-01 -3.58003595e-04 4.70791599e-01] [ 6.29989578e-03 2.89176684e-04 9.99980114e-01 -5.43173648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.501858064 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.38, Y:0.47, Z:-0.05 [[ 9.99916418e-01 -1.12921948e-02 -6.29625607e-03 3.37955663e+00] [ 1.12901525e-02 9.99936199e-01 -3.59814121e-04 4.73951663e-01] [ 6.29991746e-03 2.88698355e-04 9.99980114e-01 -5.42111262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.531858064000001 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:3.41, Y:0.48, Z:-0.06 [[ 9.99882945e-01 -1.39446527e-02 -6.29622398e-03 3.40686610e+00] [ 1.39426594e-02 9.99902731e-01 -3.60374699e-04 4.78731082e-01] [ 6.30063686e-03 2.72546409e-04 9.99980114e-01 -5.57643742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.561858064 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.44, Y:0.48, Z:-0.06 [[ 9.99868682e-01 -1.49324016e-02 -6.29619236e-03 3.43507350e+00] [ 1.49304243e-02 9.99888470e-01 -3.60926270e-04 4.80795840e-01] [ 6.30087965e-03 2.66874050e-04 9.99980114e-01 -5.53344244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.591858064 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:3.46, Y:0.48, Z:-0.06 [[ 9.99815501e-01 -1.81477149e-02 -6.29473818e-03 3.46455408e+00] [ 1.81456424e-02 9.99835280e-01 -3.86197751e-04 4.82706306e-01] [ 6.30070991e-03 2.71904430e-04 9.99980113e-01 -5.76701398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.621858064 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:3.49, Y:0.48, Z:-0.06 [[ 9.99810990e-01 -1.83941380e-02 -6.29610526e-03 3.49380778e+00] [ 1.83922197e-02 9.99830783e-01 -3.62450218e-04 4.84413079e-01] [ 6.30170681e-03 2.46582360e-04 9.99980114e-01 -5.74867025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.651858064 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:3.52, Y:0.49, Z:-0.06 [[ 9.99751513e-01 -2.13839171e-02 -6.29601549e-03 3.52204759e+00] [ 2.13820483e-02 9.99771312e-01 -3.64002965e-04 4.86611297e-01] [ 6.30235947e-03 2.29290808e-04 9.99980114e-01 -5.77729464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.681858064 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:3.55, Y:0.49, Z:-0.06 [[ 9.99623752e-01 -2.66967393e-02 -6.29592538e-03 3.55021705e+00] [ 2.66949659e-02 9.99643559e-01 -3.65554984e-04 4.90501312e-01] [ 6.30344038e-03 1.97347931e-04 9.99980114e-01 -5.76278146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.711858064 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:3.58, Y:0.49, Z:-0.06 [[ 9.99542749e-01 -2.95745684e-02 -6.29590626e-03 3.57940205e+00] [ 2.95728500e-02 9.99562561e-01 -3.65884004e-04 4.92919010e-01] [ 6.30397304e-03 1.79528811e-04 9.99980114e-01 -5.74265777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7418580640000005 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:3.61, Y:0.49, Z:-0.06 [[ 9.99359134e-01 -3.52375299e-02 -6.29581700e-03 3.60806003e+00] [ 3.52359141e-02 9.99378955e-01 -3.67413366e-04 4.94017054e-01] [ 6.30485376e-03 1.45339036e-04 9.99980114e-01 -5.72406116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.64, Y:0.50, Z:-0.06 [[ 9.99274326e-01 -3.75657435e-02 -6.29572702e-03 3.63677381e+00] [ 3.75641643e-02 9.99294150e-01 -3.68948812e-04 4.95065623e-01] [ 6.30514302e-03 1.32187352e-04 9.99980114e-01 -5.71951816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.67, Y:0.50, Z:-0.06 [[ 9.99180552e-01 -3.99823579e-02 -6.29570789e-03 3.66624557e+00] [ 3.99808246e-02 9.99200379e-01 -3.69274917e-04 4.96651073e-01] [ 6.30543820e-03 1.17264723e-04 9.99980114e-01 -5.71439610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.831858064 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:3.70, Y:0.50, Z:-0.06 [[ 9.99056069e-01 -4.29806301e-02 -6.29569519e-03 3.69548131e+00] [ 4.29791548e-02 9.99075901e-01 -3.69491466e-04 4.97722917e-01] [ 6.30575832e-03 9.85590339e-05 9.99980114e-01 -5.69040536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.861858064 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:3.73, Y:0.50, Z:-0.06 [[ 9.99049161e-01 -4.31409055e-02 -6.29568185e-03 3.72523429e+00] [ 4.31394320e-02 9.99068993e-01 -3.69718550e-04 4.99043092e-01] [ 6.30577052e-03 9.77748680e-05 9.99980114e-01 -5.64316021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.891858064 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:3.75, Y:0.50, Z:-0.06 [[ 9.99081663e-01 -4.23815484e-02 -6.29566853e-03 3.75463381e+00] [ 4.23800584e-02 9.99101493e-01 -3.69945201e-04 5.01183992e-01] [ 6.30569068e-03 1.02794667e-04 9.99980114e-01 -5.61406314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.921858064 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:3.78, Y:0.50, Z:-0.06 [[ 9.99257901e-01 -3.80001477e-02 -6.29565530e-03 3.78407512e+00] [ 3.79985694e-02 9.99277725e-01 -3.70170210e-04 5.03920758e-01] [ 6.30517463e-03 1.30669612e-04 9.99980114e-01 -5.72356143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9518580640000005 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:3.81, Y:0.51, Z:-0.06 [[ 9.99340539e-01 -3.57610444e-02 -6.29564874e-03 3.81418492e+00] [ 3.57594210e-02 9.99360359e-01 -3.70281809e-04 5.05382208e-01] [ 6.30486345e-03 1.44908869e-04 9.99980114e-01 -5.78979514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.981858064 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:3.84, Y:0.51, Z:-0.06 [[ 9.99433021e-01 -3.30756890e-02 -6.29563574e-03 3.84346594e+00] [ 3.30740109e-02 9.99452837e-01 -3.70502619e-04 5.06644234e-01] [ 6.30444563e-03 1.62070626e-04 9.99980114e-01 -5.83802215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.011858064 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:3.87, Y:0.51, Z:-0.06 [[ 9.99585203e-01 -2.81031642e-02 -6.29562285e-03 3.87184935e+00] [ 2.81013862e-02 9.99605009e-01 -3.70721645e-04 5.09311743e-01] [ 6.30355458e-03 1.93652142e-04 9.99980114e-01 -5.75539619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.041858064 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:3.90, Y:0.51, Z:-0.06 [[ 9.99630113e-01 -2.64575557e-02 -6.29561001e-03 3.90034116e+00] [ 2.64557437e-02 9.99649917e-01 -3.70939534e-04 5.11979067e-01] [ 6.30322017e-03 2.04247284e-04 9.99980114e-01 -5.67679132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.071858064 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:3.93, Y:0.51, Z:-0.06 [[ 9.99647187e-01 -2.58044025e-02 -6.29551949e-03 3.92876550e+00] [ 2.58025680e-02 9.99666989e-01 -3.72469509e-04 5.14602800e-01] [ 6.30303436e-03 2.09897527e-04 9.99980114e-01 -5.62874505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.101858064 meters Centerline goodness : 0.997213 Centerline is valid? [True, True] Translation: X:3.96, Y:0.52, Z:-0.06 [[ 9.99655647e-01 -2.54745769e-02 -6.29546888e-03 3.95692323e+00] [ 2.54727304e-02 9.99675448e-01 -3.73322893e-04 5.17159976e-01] [ 6.30293592e-03 2.12831557e-04 9.99980114e-01 -5.64519377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.131858064 meters Centerline goodness : 0.996671 Centerline is valid? [True, True] Translation: X:3.99, Y:0.52, Z:-0.06 [[ 9.99670768e-01 -2.48741498e-02 -6.29544414e-03 3.98613047e+00] [ 2.48722888e-02 9.99690567e-01 -3.73739637e-04 5.19208766e-01] [ 6.30279258e-03 2.17034485e-04 9.99980114e-01 -5.71378297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1618580640000005 meters Centerline goodness : 0.996630 Centerline is valid? [True, True] Translation: X:4.02, Y:0.52, Z:-0.06 [[ 9.99670758e-01 -2.48745773e-02 -6.29535616e-03 4.01523590e+00] [ 2.48727070e-02 9.99690556e-01 -3.75215732e-04 5.20788819e-01] [ 6.30274144e-03 2.18509646e-04 9.99980114e-01 -5.79470931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.191858064 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:4.04, Y:0.52, Z:-0.06 [[ 9.99678409e-01 -2.45651804e-02 -6.29526812e-03 4.04425985e+00] [ 2.45632947e-02 9.99698206e-01 -3.76687105e-04 5.23119449e-01] [ 6.30262163e-03 2.21933440e-04 9.99980114e-01 -5.90393034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.221858064 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:4.07, Y:0.52, Z:-0.06 [[ 9.99737147e-01 -2.20455878e-02 -6.29518658e-03 4.07309142e+00] [ 2.20436437e-02 9.99756938e-01 -3.78044853e-04 5.24543368e-01] [ 6.30199068e-03 2.39176632e-04 9.99980114e-01 -5.96174385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.251858064 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:4.10, Y:0.53, Z:-0.06 [[ 9.99755547e-01 -2.11947463e-02 -6.29516777e-03 4.10137295e+00] [ 2.11927834e-02 9.99775336e-01 -3.78357875e-04 5.25441897e-01] [ 6.30177267e-03 2.44853257e-04 9.99980114e-01 -5.92734400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.281858064 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:4.13, Y:0.53, Z:-0.06 [[ 9.99793911e-01 -1.93004139e-02 -6.29514942e-03 4.12990477e+00] [ 1.92984116e-02 9.99813697e-01 -3.78663020e-04 5.25028931e-01] [ 6.30128496e-03 2.57098597e-04 9.99980114e-01 -5.72500370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.311858064 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:4.16, Y:0.53, Z:-0.06 [[ 9.99811797e-01 -1.83505340e-02 -6.29505906e-03 4.15859931e+00] [ 1.83485036e-02 9.99831580e-01 -3.80159151e-04 5.26209875e-01] [ 6.30097497e-03 2.64582691e-04 9.99980114e-01 -5.64668536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.341858064 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:4.19, Y:0.53, Z:-0.06 [[ 9.99828894e-01 -1.73941118e-02 -6.29496894e-03 4.18637304e+00] [ 1.73920530e-02 9.99848674e-01 -3.81645622e-04 5.27248826e-01] [ 6.30065474e-03 2.72097887e-04 9.99980114e-01 -5.71463866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.371858064 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] Translation: X:4.22, Y:0.53, Z:-0.06 [[ 9.99865111e-01 -1.51701548e-02 -6.29493698e-03 4.21507272e+00] [ 1.51680487e-02 9.99884885e-01 -3.82172196e-04 5.26664816e-01] [ 6.30000995e-03 2.86638734e-04 9.99980114e-01 -5.63380710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.401858064 meters Centerline goodness : 0.990593 Centerline is valid? [True, True] Translation: X:4.24, Y:0.53, Z:-0.06 [[ 9.99878716e-01 -1.42452511e-02 -6.29484861e-03 4.24368526e+00] [ 1.42431177e-02 9.99898488e-01 -3.83622198e-04 5.26633281e-01] [ 6.29967440e-03 2.93917401e-04 9.99980114e-01 -5.64043103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.431858064 meters Centerline goodness : 0.991482 Centerline is valid? [True, True] Translation: X:4.27, Y:0.53, Z:-0.06 [[ 9.99892364e-01 -1.32527626e-02 -6.29476063e-03 4.27149299e+00] [ 1.32506005e-02 9.99912133e-01 -3.85060433e-04 5.26736840e-01] [ 6.29931064e-03 3.01609629e-04 9.99980114e-01 -5.63451236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.461858064 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:4.30, Y:0.53, Z:-0.06 [[ 9.99900086e-01 -1.26567887e-02 -6.29472945e-03 4.30036362e+00] [ 1.26546117e-02 9.99919853e-01 -3.85569424e-04 5.26739458e-01] [ 6.29910502e-03 3.05873544e-04 9.99980114e-01 -5.65011687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4918580640000005 meters Centerline goodness : 0.991248 Centerline is valid? [True, True] Translation: X:4.33, Y:0.53, Z:-0.06 [[ 9.99903355e-01 -1.23958955e-02 -6.29464196e-03 4.32784686e+00] [ 1.23937043e-02 9.99923120e-01 -3.86992545e-04 5.25333453e-01] [ 6.29895515e-03 3.08941213e-04 9.99980114e-01 -5.61637784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.521858064 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:4.36, Y:0.53, Z:-0.06 [[ 9.99892567e-01 -1.32375701e-02 -6.29459520e-03 4.35584187e+00] [ 1.32353908e-02 9.99912333e-01 -3.87751677e-04 5.25997776e-01] [ 6.29917626e-03 3.04398593e-04 9.99980114e-01 -5.53901489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.551858064 meters Centerline goodness : 0.990670 Centerline is valid? [True, True] Translation: X:4.38, Y:0.53, Z:-0.06 [[ 9.99875754e-01 -1.44518454e-02 -6.29449657e-03 4.38360244e+00] [ 1.44496800e-02 9.99895522e-01 -3.89346161e-04 5.25894712e-01] [ 6.29946570e-03 2.98344325e-04 9.99980114e-01 -5.55985216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.581858064 meters Centerline goodness : 0.990664 Centerline is valid? [True, True] Translation: X:4.41, Y:0.52, Z:-0.06 [[ 9.99814133e-01 -1.82230624e-02 -6.29446604e-03 4.41217899e+00] [ 1.82209686e-02 9.99833908e-01 -3.89839108e-04 5.24132294e-01] [ 6.30052464e-03 2.75075382e-04 9.99980114e-01 -5.54816517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.611858064 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:4.44, Y:0.52, Z:-0.06 [[ 9.99767794e-01 -2.06092087e-02 -6.29436872e-03 4.44022776e+00] [ 2.06071522e-02 9.99787573e-01 -3.91404124e-04 5.23354179e-01] [ 6.30109816e-03 2.61604223e-04 9.99980114e-01 -5.63958001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.641858064 meters Centerline goodness : 0.991240 Centerline is valid? [True, True] Translation: X:4.47, Y:0.52, Z:-0.06 [[ 9.99703116e-01 -2.35385134e-02 -6.29427120e-03 4.46839516e+00] [ 2.35365051e-02 9.99722901e-01 -3.92966087e-04 5.22642277e-01] [ 6.30177691e-03 2.44704276e-04 9.99980114e-01 -5.64085567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.671858064 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:4.50, Y:0.52, Z:-0.06 [[ 9.99626497e-01 -2.65941597e-02 -6.29422559e-03 4.49645664e+00] [ 2.65922073e-02 9.99646287e-01 -3.93695328e-04 5.21388823e-01] [ 6.30246924e-03 2.26170930e-04 9.99980114e-01 -5.63555059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7018580640000005 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:4.52, Y:0.52, Z:-0.06 [[ 9.99486587e-01 -3.14157073e-02 -6.29412857e-03 4.52452082e+00] [ 3.14138406e-02 9.99506385e-01 -3.95240443e-04 5.17554312e-01] [ 6.30343845e-03 1.97314769e-04 9.99980114e-01 -5.51496523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.731858064 meters Centerline goodness : 0.991677 Centerline is valid? [True, True] Translation: X:4.55, Y:0.52, Z:-0.05 [[ 9.99423453e-01 -3.33638441e-02 -6.29402455e-03 4.55293084e+00] [ 3.33620056e-02 9.99443255e-01 -3.96889939e-04 5.17860558e-01] [ 6.30376216e-03 1.86679831e-04 9.99980114e-01 -5.41856441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.761858064 meters Centerline goodness : 0.991512 Centerline is valid? [True, True] Translation: X:4.58, Y:0.52, Z:-0.05 [[ 9.99390733e-01 -3.43300004e-02 -6.29392037e-03 4.58055859e+00] [ 3.43281708e-02 9.99410535e-01 -3.98535291e-04 5.18248420e-01] [ 6.30389204e-03 1.82233703e-04 9.99980114e-01 -5.29867967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.791858064 meters Centerline goodness : 0.991336 Centerline is valid? [True, True] Translation: X:4.61, Y:0.52, Z:-0.05 [[ 9.99416081e-01 -3.35839823e-02 -6.29387177e-03 4.60835904e+00] [ 3.35821330e-02 9.99435881e-01 -3.99301231e-04 5.15459107e-01] [ 6.30373141e-03 1.87706432e-04 9.99980114e-01 -5.11989746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.821858064 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:4.64, Y:0.51, Z:-0.05 [[ 9.99463816e-01 -3.21320572e-02 -6.29376925e-03 4.63679625e+00] [ 3.21301691e-02 9.99483612e-01 -4.00910748e-04 5.14428670e-01] [ 6.30340131e-03 1.98475916e-04 9.99980114e-01 -4.99613362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.851858064 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:4.67, Y:0.51, Z:-0.05 [[ 9.99577567e-01 -2.83738663e-02 -6.29373742e-03 4.66539075e+00] [ 2.83719006e-02 9.99597356e-01 -4.01409794e-04 5.10606332e-01] [ 6.30259283e-03 2.22674933e-04 9.99980114e-01 -4.92155536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.881858064 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:4.69, Y:0.51, Z:-0.05 [[ 9.99628719e-01 -2.65106250e-02 -6.29370590e-03 4.69324579e+00] [ 2.65086193e-02 9.99648504e-01 -4.01903454e-04 5.09621759e-01] [ 6.30214839e-03 2.34916782e-04 9.99980114e-01 -4.92486004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9118580640000005 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99674982e-01 -2.47046888e-02 -6.29359849e-03 4.72007104e+00] [ 2.47026368e-02 9.99694762e-01 -4.03578375e-04 5.08300917e-01] [ 6.30164772e-03 2.47978726e-04 9.99980114e-01 -4.99053548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.941858064 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:4.75, Y:0.50, Z:-0.05 [[ 9.99730863e-01 -2.23292073e-02 -6.29349034e-03 4.74823774e+00] [ 2.23270977e-02 9.99750637e-01 -4.05257926e-04 5.04043725e-01] [ 6.30097006e-03 2.64633482e-04 9.99980114e-01 -5.08988293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.971858064 meters Centerline goodness : 0.992402 Centerline is valid? [True, True] Translation: X:4.78, Y:0.50, Z:-0.05 [[ 9.99743429e-01 -2.17593755e-02 -6.29337516e-03 4.77609506e+00] [ 2.17572435e-02 9.99763200e-01 -4.07038730e-04 5.02648036e-01] [ 6.30074180e-03 2.70007800e-04 9.99980114e-01 -5.09196840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.001858064 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:4.80, Y:0.50, Z:-0.05 [[ 9.99747527e-01 -2.15702653e-02 -6.29326023e-03 4.80421965e+00] [ 2.15681185e-02 9.99767297e-01 -4.08807988e-04 5.01139348e-01] [ 6.30061387e-03 2.72970993e-04 9.99980114e-01 -5.06966170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.031858064 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:4.83, Y:0.50, Z:-0.05 [[ 9.99738662e-01 -2.19773540e-02 -6.29314439e-03 4.83157530e+00] [ 2.19752040e-02 9.99758432e-01 -4.10583489e-04 4.99069944e-01] [ 6.30064771e-03 2.72183056e-04 9.99980114e-01 -5.09480575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061858064 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:4.86, Y:0.49, Z:-0.05 [[ 9.99712469e-01 -2.31382106e-02 -6.29309391e-03 4.85994398e+00] [ 2.31360788e-02 9.99732240e-01 -4.11355734e-04 4.93316617e-01] [ 6.30092691e-03 2.65639940e-04 9.99980114e-01 -5.03992738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.091858064 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:4.89, Y:0.49, Z:-0.05 [[ 9.99694130e-01 -2.39174540e-02 -6.29297922e-03 4.88727641e+00] [ 2.39153266e-02 9.99713902e-01 -4.13102944e-04 4.91697656e-01] [ 6.30105918e-03 2.62477934e-04 9.99980114e-01 -5.02974997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121858064 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:4.92, Y:0.49, Z:-0.05 [[ 9.99662751e-01 -2.51949181e-02 -6.29292965e-03 4.91511653e+00] [ 2.51928112e-02 9.99682525e-01 -4.13856613e-04 4.90056932e-01] [ 6.30135889e-03 2.55180451e-04 9.99980114e-01 -5.06437478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.151858064 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:4.94, Y:0.49, Z:-0.05 [[ 9.99631538e-01 -2.64043212e-02 -6.29281623e-03 4.94358615e+00] [ 2.64022274e-02 9.99651314e-01 -4.15574176e-04 4.87923117e-01] [ 6.30159496e-03 2.49276688e-04 9.99980114e-01 -5.01661786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.181858064 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:4.97, Y:0.48, Z:-0.05 [[ 9.99596617e-01 -2.76948521e-02 -6.29269835e-03 4.97189785e+00] [ 2.76927727e-02 9.99616395e-01 -4.17351507e-04 4.82301697e-01] [ 6.30184292e-03 2.42920890e-04 9.99980114e-01 -4.97970152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.211858064 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:5.00, Y:0.48, Z:-0.05 [[ 9.99601970e-01 -2.75009894e-02 -6.29257861e-03 4.99871903e+00] [ 2.74988949e-02 9.99621746e-01 -4.19149087e-04 4.80587800e-01] [ 6.30172543e-03 2.45943296e-04 9.99980114e-01 -4.87066328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2418580640000005 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:5.03, Y:0.48, Z:-0.05 [[ 9.99651113e-01 -2.56525903e-02 -6.29252671e-03 5.02612931e+00] [ 2.56504544e-02 9.99670885e-01 -4.19926792e-04 4.75235866e-01] [ 6.30122795e-03 2.58374116e-04 9.99980114e-01 -4.77012665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.271858064 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:5.05, Y:0.47, Z:-0.05 [[ 9.99697544e-01 -2.37744796e-02 -6.29247525e-03 5.05301692e+00] [ 2.37723017e-02 9.99717310e-01 -4.20696505e-04 4.73665752e-01] [ 6.30069827e-03 2.70982642e-04 9.99980114e-01 -4.75943293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.301858064 meters Centerline goodness : 0.996245 Centerline is valid? [True, True] Translation: X:5.08, Y:0.47, Z:-0.05 [[ 9.99746708e-01 -2.16084325e-02 -6.29242431e-03 5.08121875e+00] [ 2.16062069e-02 9.99766470e-01 -4.21457073e-04 4.72332308e-01] [ 6.30006186e-03 2.85394899e-04 9.99980114e-01 -4.71294531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.331858064 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:5.11, Y:0.47, Z:-0.05 [[ 9.99798560e-01 -1.90590302e-02 -6.29230881e-03 5.10937202e+00] [ 1.90567435e-02 9.99818314e-01 -4.23174498e-04 4.70658206e-01] [ 6.29923088e-03 3.03178338e-04 9.99980114e-01 -4.67878738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.361858064 meters Centerline goodness : 0.996833 Centerline is valid? [True, True] Translation: X:5.14, Y:0.46, Z:-0.05 [[ 9.99884038e-01 -1.38679347e-02 -6.29218771e-03 5.13692827e+00] [ 1.38655342e-02 9.99903779e-01 -4.24967523e-04 4.64205089e-01] [ 6.29747569e-03 3.37673698e-04 9.99980114e-01 -4.62758402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.391858064 meters Centerline goodness : 0.996685 Centerline is valid? [True, True] Translation: X:5.17, Y:0.46, Z:-0.05 [[ 9.99915378e-01 -1.13861742e-02 -6.29213513e-03 5.16537919e+00] [ 1.13837198e-02 9.99935113e-01 -4.25744532e-04 4.61734435e-01] [ 6.29657446e-03 3.54080601e-04 9.99980114e-01 -4.59165429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.421858064 meters Centerline goodness : 0.996654 Centerline is valid? [True, True] Translation: X:5.19, Y:0.46, Z:-0.05 [[ 9.99932911e-01 -9.72544192e-03 -6.29201556e-03 5.19264186e+00] [ 9.72294375e-03 9.99952640e-01 -4.27504422e-04 4.59727623e-01] [ 6.29587524e-03 3.66298828e-04 9.99980114e-01 -4.56890435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4518580640000005 meters Centerline goodness : 0.996822 Centerline is valid? [True, True] Translation: X:5.22, Y:0.46, Z:-0.05 [[ 9.99944299e-01 -8.47404542e-03 -6.29196359e-03 5.22132940e+00] [ 8.47151778e-03 9.99964024e-01 -4.28267956e-04 4.57627682e-01] [ 6.29536639e-03 3.74941620e-04 9.99980114e-01 -4.58417160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.481858064 meters Centerline goodness : 0.996822 Centerline is valid? [True, True] Translation: X:5.25, Y:0.46, Z:-0.05 [[ 9.99941920e-01 -8.75041531e-03 -6.29184474e-03 5.24976220e+00] [ 8.74788222e-03 9.99961644e-01 -4.30006898e-04 4.59661457e-01] [ 6.29536615e-03 3.74941606e-04 9.99980114e-01 -4.56620832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.511858064 meters Centerline goodness : 0.996881 Centerline is valid? [True, True] Translation: X:5.28, Y:0.45, Z:-0.05 [[ 9.99946083e-01 -8.26111794e-03 -6.29172542e-03 5.27719319e+00] [ 8.25856430e-03 9.99965804e-01 -4.31745806e-04 4.51721540e-01] [ 6.29507697e-03 3.79761908e-04 9.99980114e-01 -4.58193720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.541858064 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:5.31, Y:0.45, Z:-0.05 [[ 9.99931930e-01 -9.82596799e-03 -6.29167362e-03 5.30589220e+00] [ 9.82344049e-03 9.99951655e-01 -4.32499325e-04 4.48648175e-01] [ 6.29561917e-03 3.70664003e-04 9.99980114e-01 -4.65050869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.571858064 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:5.33, Y:0.45, Z:-0.05 [[ 9.99921830e-01 -1.08051373e-02 -6.29155566e-03 5.33428463e+00] [ 1.08026184e-02 9.99941556e-01 -4.34208451e-04 4.45855995e-01] [ 6.29587964e-03 3.66209234e-04 9.99980114e-01 -4.59271583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601858064 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:5.36, Y:0.44, Z:-0.04 [[ 9.99895770e-01 -1.29948649e-02 -6.29143792e-03 5.36247220e+00] [ 1.29923786e-02 9.99915500e-01 -4.35907920e-04 4.37999116e-01] [ 6.29657086e-03 3.54121742e-04 9.99980114e-01 -4.41974978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.631858064 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:5.39, Y:0.44, Z:-0.04 [[ 9.99864890e-01 -1.51862079e-02 -6.29131673e-03 5.39106104e+00] [ 1.51837539e-02 9.99884624e-01 -4.37650049e-04 4.35346295e-01] [ 6.29723711e-03 3.42065113e-04 9.99980114e-01 -4.39344159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6618580640000005 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:5.42, Y:0.43, Z:-0.04 [[ 9.99855689e-01 -1.57804245e-02 -6.29119211e-03 5.41833891e+00] [ 1.57779710e-02 9.99875424e-01 -4.39434173e-04 4.32722151e-01] [ 6.29734283e-03 3.40108511e-04 9.99980114e-01 -4.27061021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.691858064 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:5.45, Y:0.43, Z:-0.04 [[ 9.99834923e-01 -1.70454619e-02 -6.29113801e-03 5.44687409e+00] [ 1.70430285e-02 9.99854660e-01 -4.40207213e-04 4.30688534e-01] [ 6.29772720e-03 3.32914500e-04 9.99980114e-01 -4.19530924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.721858064 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:5.47, Y:0.42, Z:-0.04 [[ 9.99781423e-01 -1.99381214e-02 -6.29101412e-03 5.47452649e+00] [ 1.99357341e-02 9.99801166e-01 -4.41970670e-04 4.24696247e-01] [ 6.29857532e-03 3.16458081e-04 9.99980114e-01 -4.33621512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.751858064 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:5.50, Y:0.42, Z:-0.04 [[ 9.99765468e-01 -2.07227627e-02 -6.29092988e-03 5.50247258e+00] [ 2.07203833e-02 9.99785212e-01 -4.43166538e-04 4.22601346e-01] [ 6.29876230e-03 3.12712122e-04 9.99980114e-01 -4.35141505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.781858064 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:5.53, Y:0.42, Z:-0.04 [[ 9.99762334e-01 -2.08734603e-02 -6.29080671e-03 5.53094728e+00] [ 2.08710730e-02 9.99782076e-01 -4.44908103e-04 4.20087104e-01] [ 6.29872257e-03 3.13506478e-04 9.99980114e-01 -4.25815422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.811858064 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:5.56, Y:0.41, Z:-0.04 [[ 9.99745649e-01 -2.16579066e-02 -6.29068401e-03 5.55954356e+00] [ 2.16555240e-02 9.99765392e-01 -4.46636346e-04 4.13292116e-01] [ 6.29888137e-03 3.10294686e-04 9.99980114e-01 -4.09808111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.841858064 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:5.59, Y:0.41, Z:-0.04 [[ 9.99756302e-01 -2.11604631e-02 -6.29055434e-03 5.58685405e+00] [ 2.11580592e-02 9.99776043e-01 -4.48455222e-04 4.11453937e-01] [ 6.29863504e-03 3.15250014e-04 9.99980114e-01 -4.10283565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.871858064 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:5.62, Y:0.41, Z:-0.04 [[ 9.99761903e-01 -2.08941972e-02 -6.29049813e-03 5.61577606e+00] [ 2.08917831e-02 9.99781642e-01 -4.49242230e-04 4.05566948e-01] [ 6.29851111e-03 3.17715545e-04 9.99980114e-01 -4.16995282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.901858064 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:5.64, Y:0.40, Z:-0.04 [[ 9.99750160e-01 -2.14487599e-02 -6.29037642e-03 5.64421783e+00] [ 2.14463461e-02 9.99769899e-01 -4.50940025e-04 4.02744779e-01] [ 6.29860111e-03 3.15921773e-04 9.99980114e-01 -4.15958743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.931858064 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:5.67, Y:0.40, Z:-0.04 [[ 9.99733051e-01 -2.22319419e-02 -6.29024925e-03 5.67133370e+00] [ 2.22295325e-02 9.99752791e-01 -4.52707132e-04 3.99794143e-01] [ 6.29875880e-03 3.12756982e-04 9.99980114e-01 -4.18525195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.961858064 meters Centerline goodness : 0.997750 Centerline is valid? [True, True] Translation: X:5.70, Y:0.40, Z:-0.04 [[ 9.99713440e-01 -2.30969881e-02 -6.29016265e-03 5.69986934e+00] [ 2.30945882e-02 9.99733181e-01 -4.53907189e-04 3.97063172e-01] [ 6.29896820e-03 3.08508401e-04 9.99980114e-01 -4.12172237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.991858064 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:5.73, Y:0.39, Z:-0.04 [[ 9.99696411e-01 -2.38227004e-02 -6.29003588e-03 5.72823098e+00] [ 2.38203039e-02 9.99716152e-01 -4.55657177e-04 3.90207522e-01] [ 6.29910545e-03 3.05688279e-04 9.99980114e-01 -3.86000499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.021858064 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:5.75, Y:0.39, Z:-0.04 [[ 9.99680316e-01 -2.44888431e-02 -6.28990885e-03 5.75498664e+00] [ 2.44864487e-02 9.99700057e-01 -4.57403959e-04 3.87936454e-01] [ 6.29922353e-03 3.03240203e-04 9.99980114e-01 -3.82082532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.051858064 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:5.78, Y:0.39, Z:-0.04 [[ 9.99663686e-01 -2.51585633e-02 -6.28985376e-03 5.78276773e+00] [ 2.51561774e-02 9.99683428e-01 -4.58160299e-04 3.86069863e-01] [ 6.29938922e-03 2.99777536e-04 9.99980114e-01 -3.77219894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.081858064 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:5.81, Y:0.38, Z:-0.04 [[ 9.99649977e-01 -2.56975421e-02 -6.28972705e-03 5.81018558e+00] [ 2.56951560e-02 9.99669719e-01 -4.59893242e-04 3.80260901e-01] [ 6.29946780e-03 2.98116751e-04 9.99980114e-01 -3.68857826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.111858064 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:5.84, Y:0.38, Z:-0.04 [[ 9.99647322e-01 -2.58006071e-02 -6.28967207e-03 5.83816372e+00] [ 2.57982183e-02 9.99667064e-01 -4.60643953e-04 3.78417689e-01] [ 6.29946291e-03 2.98219161e-04 9.99980114e-01 -3.54720735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141858064 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:5.87, Y:0.38, Z:-0.03 [[ 9.99640169e-01 -2.60763248e-02 -6.28954623e-03 5.86527313e+00] [ 2.60739307e-02 9.99659910e-01 -4.62355754e-04 3.76666123e-01] [ 6.29946376e-03 2.98196191e-04 9.99980114e-01 -3.39374941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.171858064 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:5.89, Y:0.37, Z:-0.03 [[ 9.99629188e-01 -2.64939289e-02 -6.28949157e-03 5.89397166e+00] [ 2.64915384e-02 9.99648930e-01 -4.63098039e-04 3.74536991e-01] [ 6.29955281e-03 2.96308009e-04 9.99980114e-01 -3.29873050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.201858064 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:5.92, Y:0.37, Z:-0.03 [[ 9.99629183e-01 -2.64941439e-02 -6.28936642e-03 5.92271142e+00] [ 2.64917428e-02 9.99648924e-01 -4.64791596e-04 3.67785147e-01] [ 6.29947263e-03 2.98002966e-04 9.99980114e-01 -3.09416212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.231858064 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:5.95, Y:0.37, Z:-0.03 [[ 9.99644699e-01 -2.59021449e-02 -6.28923634e-03 5.95053796e+00] [ 2.58997211e-02 9.99664437e-01 -4.66545167e-04 3.66378266e-01] [ 6.29921042e-03 3.03489936e-04 9.99980114e-01 -2.98094945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.261858064 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:5.98, Y:0.37, Z:-0.03 [[ 9.99656451e-01 -2.54445812e-02 -6.28910517e-03 5.97760914e+00] [ 2.54421373e-02 9.99676187e-01 -4.68306596e-04 3.65646976e-01] [ 6.29898454e-03 3.08137433e-04 9.99980114e-01 -2.95347075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.291858064 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:6.01, Y:0.36, Z:-0.03 [[ 9.99702608e-01 -2.35614634e-02 -6.28904828e-03 6.00512954e+00] [ 2.35589775e-02 9.99722339e-01 -4.69069465e-04 3.60514019e-01] [ 6.29835401e-03 3.20766420e-04 9.99980114e-01 -2.93549872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.321858064 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:6.03, Y:0.36, Z:-0.03 [[ 9.99712336e-01 -2.31450545e-02 -6.28899372e-03 6.03287764e+00] [ 2.31425559e-02 9.99732065e-01 -4.69799821e-04 3.58898221e-01] [ 6.29818222e-03 3.24121289e-04 9.99980114e-01 -2.89450337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.351858064 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:6.06, Y:0.36, Z:-0.03 [[ 9.99737310e-01 -2.20400023e-02 -6.28886434e-03 6.06091010e+00] [ 2.20374710e-02 9.99757034e-01 -4.71525301e-04 3.57645262e-01] [ 6.29772878e-03 3.32810771e-04 9.99980114e-01 -2.81358267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.381858064 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:6.09, Y:0.35, Z:-0.03 [[ 9.99765918e-01 -2.07017324e-02 -6.28873084e-03 6.08803302e+00] [ 2.06991635e-02 9.99785637e-01 -4.73299119e-04 3.53230612e-01] [ 6.29718089e-03 3.43016860e-04 9.99980114e-01 -2.77301106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4118580640000005 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:6.12, Y:0.35, Z:-0.03 [[ 9.99770280e-01 -2.04899778e-02 -6.28867293e-03 6.11599667e+00] [ 2.04874000e-02 9.99789999e-01 -4.74067417e-04 3.52518466e-01] [ 6.29706593e-03 3.45119957e-04 9.99980114e-01 -2.70091557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.441858064 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:6.14, Y:0.35, Z:-0.03 [[ 9.99753431e-01 -2.12962889e-02 -6.28854172e-03 6.14434673e+00] [ 2.12937161e-02 9.99773150e-01 -4.75801479e-04 3.52122730e-01] [ 6.29724797e-03 3.41777739e-04 9.99980114e-01 -2.76590951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.471858064 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:6.17, Y:0.35, Z:-0.03 [[ 9.99745063e-01 -2.16855727e-02 -6.28841004e-03 6.17160310e+00] [ 2.16829967e-02 9.99764782e-01 -4.77535505e-04 3.51473140e-01] [ 6.29728653e-03 3.41062189e-04 9.99980114e-01 -2.79774099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501858064 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:6.20, Y:0.35, Z:-0.03 [[ 9.99693790e-01 -2.39328649e-02 -6.28835286e-03 6.19994152e+00] [ 2.39303285e-02 9.99713514e-01 -4.78287340e-04 3.47490111e-01] [ 6.29799812e-03 3.27658534e-04 9.99980114e-01 -2.90191431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.531858064 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:6.23, Y:0.35, Z:-0.03 [[ 9.99670659e-01 -2.48803587e-02 -6.28821841e-03 6.22772145e+00] [ 2.48778300e-02 9.99690384e-01 -4.80048521e-04 3.46418438e-01] [ 6.29821525e-03 3.23453193e-04 9.99980114e-01 -2.87527685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561858064 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:6.26, Y:0.35, Z:-0.03 [[ 9.99649302e-01 -2.57241607e-02 -6.28808360e-03 6.25563078e+00] [ 2.57216376e-02 9.99669028e-01 -4.81807939e-04 3.45627804e-01] [ 6.29839652e-03 3.19899162e-04 9.99980114e-01 -2.99052425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.591858064 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:6.28, Y:0.35, Z:-0.03 [[ 9.99612279e-01 -2.71247464e-02 -6.28804179e-03 6.28344700e+00] [ 2.71222475e-02 9.99632008e-01 -4.82352960e-04 3.45127216e-01] [ 6.29881154e-03 3.11620115e-04 9.99980114e-01 -2.97056148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.621858064 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:6.31, Y:0.34, Z:-0.03 [[ 9.99555928e-01 -2.91274552e-02 -6.28790961e-03 6.31110847e+00] [ 2.91249851e-02 9.99575660e-01 -4.84070004e-04 3.42305173e-01] [ 6.29934112e-03 3.00719769e-04 9.99980114e-01 -3.06968212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.651858064 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:6.34, Y:0.34, Z:-0.03 [[ 9.99531606e-01 -2.99504731e-02 -6.28785224e-03 6.33906007e+00] [ 2.99480146e-02 9.99551340e-01 -4.84814013e-04 3.42044022e-01] [ 6.29955154e-03 2.96278238e-04 9.99980114e-01 -2.99329384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.681858064 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:6.37, Y:0.34, Z:-0.03 [[ 9.99506450e-01 -3.07785679e-02 -6.28771654e-03 6.36646179e+00] [ 3.07761147e-02 9.99526185e-01 -4.86567588e-04 3.41579142e-01] [ 6.29971318e-03 2.92815957e-04 9.99980114e-01 -3.07503894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.711858064 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:6.40, Y:0.34, Z:-0.03 [[ 9.99464369e-01 -3.21160458e-02 -6.28765771e-03 6.39526287e+00] [ 3.21136143e-02 9.99484106e-01 -4.87326652e-04 3.37489456e-01] [ 6.30006495e-03 2.85146211e-04 9.99980114e-01 -2.80094229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.741858064 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:6.42, Y:0.34, Z:-0.03 [[ 9.99426130e-01 -3.32847898e-02 -6.28752391e-03 6.42323423e+00] [ 3.32823705e-02 9.99445869e-01 -4.89046844e-04 3.36797558e-01] [ 6.30031762e-03 2.79502495e-04 9.99980114e-01 -2.72856040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.771858064 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:6.45, Y:0.34, Z:-0.03 [[ 9.99400708e-01 -3.40395897e-02 -6.28739028e-03 6.45083131e+00] [ 3.40371746e-02 9.99420447e-01 -4.90758873e-04 3.36649546e-01] [ 6.30045164e-03 2.76459765e-04 9.99980114e-01 -2.76296875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801858064 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:6.48, Y:0.33, Z:-0.03 [[ 9.99365023e-01 -3.50716363e-02 -6.28734885e-03 6.47921697e+00] [ 3.50692382e-02 9.99384764e-01 -4.91289138e-04 3.34591999e-01] [ 6.30071096e-03 2.70484647e-04 9.99980114e-01 -2.65328638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.831858064 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:6.51, Y:0.33, Z:-0.03 [[ 9.99324694e-01 -3.62025924e-02 -6.28721627e-03 6.50723201e+00] [ 3.62002060e-02 9.99344436e-01 -4.92979943e-04 3.34368464e-01] [ 6.30094175e-03 2.65048506e-04 9.99980114e-01 -2.65038675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.861858064 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:6.54, Y:0.33, Z:-0.03 [[ 9.99316216e-01 -3.64358655e-02 -6.28708392e-03 6.53528071e+00] [ 3.64334731e-02 9.99335958e-01 -4.94662071e-04 3.33774961e-01] [ 6.30093248e-03 2.65263526e-04 9.99980114e-01 -2.52520709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.891858064 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:6.56, Y:0.33, Z:-0.02 [[ 9.99290740e-01 -3.71280477e-02 -6.28695217e-03 6.56391776e+00] [ 3.71256586e-02 9.99310482e-01 -4.96330982e-04 3.30379188e-01] [ 6.30104500e-03 2.62571714e-04 9.99980114e-01 -2.26316326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.921858064 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:6.59, Y:0.33, Z:-0.02 [[ 9.99234623e-01 -3.86088380e-02 -6.28691137e-03 6.59162262e+00] [ 3.86064749e-02 9.99254369e-01 -4.96847191e-04 3.29893239e-01] [ 6.30140635e-03 2.53751429e-04 9.99980114e-01 -2.19014644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.951858064 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:6.62, Y:0.33, Z:-0.02 [[ 9.99198780e-01 -3.95256245e-02 -6.28678155e-03 6.61945693e+00] [ 3.95232693e-02 9.99218526e-01 -4.98484545e-04 3.26972273e-01] [ 6.30157150e-03 2.49610989e-04 9.99980114e-01 -2.00729940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.981858064 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:6.65, Y:0.33, Z:-0.02 [[ 9.99186549e-01 -3.98336334e-02 -6.28672522e-03 6.64796354e+00] [ 3.98312797e-02 9.99206295e-01 -4.99193892e-04 3.27521011e-01] [ 6.30162012e-03 2.48379512e-04 9.99980114e-01 -1.94959907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.011858064 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:6.68, Y:0.33, Z:-0.02 [[ 9.99179774e-01 -4.00032253e-02 -6.28659692e-03 6.67605568e+00] [ 4.00008649e-02 9.99199520e-01 -5.00804427e-04 3.28643789e-01] [ 6.30159842e-03 2.48924340e-04 9.99980114e-01 -1.88472448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041858064 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:6.70, Y:0.33, Z:-0.02 [[ 9.99169388e-01 -4.02618331e-02 -6.28646868e-03 6.70425208e+00] [ 4.02594678e-02 9.99189133e-01 -5.02409040e-04 3.29288929e-01] [ 6.30159910e-03 2.48901849e-04 9.99980114e-01 -1.93147520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.071858064 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:6.73, Y:0.33, Z:-0.02 [[ 9.99165678e-01 -4.03538141e-02 -6.28634073e-03 6.73165232e+00] [ 4.03514405e-02 9.99185422e-01 -5.04004965e-04 3.27001092e-01] [ 6.30155854e-03 2.49921558e-04 9.99980114e-01 -1.85191920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.101858064 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:6.76, Y:0.33, Z:-0.02 [[ 9.99141198e-01 -4.09554621e-02 -6.28628515e-03 6.75979229e+00] [ 4.09530961e-02 9.99160943e-01 -5.04697275e-04 3.26816157e-01] [ 6.30168070e-03 2.46821000e-04 9.99980114e-01 -1.80673127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.131858064 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:6.79, Y:0.33, Z:-0.02 [[ 9.99076384e-01 -4.25072167e-02 -6.28615839e-03 6.78833248e+00] [ 4.25048714e-02 9.99096131e-01 -5.06271118e-04 3.27419634e-01] [ 6.30199671e-03 2.38611163e-04 9.99980114e-01 -1.73019358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.161858064 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:6.82, Y:0.33, Z:-0.02 [[ 9.98992821e-01 -4.44277936e-02 -6.28601923e-03 6.81523761e+00] [ 4.44254755e-02 9.99012572e-01 -5.07993147e-04 3.27814665e-01] [ 6.30238126e-03 2.28222114e-04 9.99980114e-01 -1.82850322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.191858064 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:6.84, Y:0.33, Z:-0.02 [[ 9.98708088e-01 -5.04246189e-02 -6.28595885e-03 6.84319420e+00] [ 5.04224148e-02 9.98727851e-01 -5.08739228e-04 3.26623957e-01] [ 6.30361516e-03 1.91128757e-04 9.99980114e-01 -2.02124206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.221858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:6.87, Y:0.33, Z:-0.02 [[ 9.98533246e-01 -5.37758681e-02 -6.28583314e-03 6.87133331e+00] [ 5.37737205e-02 9.98553016e-01 -5.10287751e-04 3.26757356e-01] [ 6.30417881e-03 1.71526651e-04 9.99980114e-01 -2.08817169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.251858064 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:6.90, Y:0.33, Z:-0.02 [[ 9.98300915e-01 -5.79290299e-02 -6.28570761e-03 6.89907189e+00] [ 5.79269549e-02 9.98320693e-01 -5.11829323e-04 3.26925901e-01] [ 6.30480176e-03 1.46847780e-04 9.99980114e-01 -2.02685492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:6.93, Y:0.32, Z:-0.02 [[ 9.97815194e-01 -6.57672421e-02 -6.28557226e-03 6.92709911e+00] [ 6.57653120e-02 9.97834986e-01 -5.13486211e-04 3.23963537e-01] [ 6.30573448e-03 9.89917226e-05 9.99980114e-01 -1.90309621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.311858064 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:6.96, Y:0.32, Z:-0.02 [[ 9.97523105e-01 -7.00581757e-02 -6.28553031e-03 6.95539424e+00] [ 7.00563276e-02 9.97542905e-01 -5.13999137e-04 3.24132253e-01] [ 6.30609601e-03 7.23848443e-05 9.99980114e-01 -1.79417755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.341858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:6.98, Y:0.32, Z:-0.02 [[ 9.96964143e-01 -7.76079365e-02 -6.28540484e-03 6.98320703e+00] [ 7.76062287e-02 9.96983955e-01 -5.15528900e-04 3.24105318e-01] [ 6.30645691e-03 2.61772630e-05 9.99980114e-01 -1.64417310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.371858064 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:7.01, Y:0.33, Z:-0.02 [[ 9.96704271e-01 -8.08770189e-02 -6.28525941e-03 7.01004851e+00] [ 8.08753649e-02 9.96724088e-01 -5.17295909e-04 3.25429933e-01] [ 6.30650681e-03 7.26839274e-06 9.99980114e-01 -1.62761322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.401858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:7.04, Y:0.33, Z:-0.02 [[ 9.96163498e-01 -8.72856299e-02 -6.28519646e-03 7.03798420e+00] [ 8.72840985e-02 9.96183325e-01 -5.18059633e-04 3.25668470e-01] [ 6.30642707e-03 -3.25256109e-05 9.99980114e-01 -1.50585287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.431858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:7.07, Y:0.33, Z:-0.01 [[ 9.96139400e-01 -8.75602271e-02 -6.28505306e-03 7.06646164e+00] [ 8.75586903e-02 9.96159227e-01 -5.19793570e-04 3.28100201e-01] [ 6.30642684e-03 -3.25241592e-05 9.99980114e-01 -1.48788962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.461858064 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:7.09, Y:0.33, Z:-0.01 [[ 9.95902751e-01 -9.02120270e-02 -6.28490930e-03 7.09384747e+00] [ 9.02105320e-02 9.95922581e-01 -5.21526021e-04 3.29343407e-01] [ 6.30633101e-03 -4.75758120e-05 9.99980114e-01 -1.35488795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.491858064 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:7.12, Y:0.33, Z:-0.01 [[ 9.95680687e-01 -9.26308323e-02 -6.28484691e-03 7.12151708e+00] [ 9.26293808e-02 9.95700520e-01 -5.22276760e-04 3.31433325e-01] [ 6.30620427e-03 -6.21405945e-05 9.99980114e-01 -1.29895838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.521858064 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:7.15, Y:0.33, Z:-0.01 [[ 9.95542327e-01 -9.41062082e-02 -6.28470527e-03 7.14921639e+00] [ 9.41047753e-02 9.95562161e-01 -5.23975615e-04 3.33679064e-01] [ 6.30612412e-03 -6.97808746e-05 9.99980114e-01 -1.28781645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.551858064 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:7.18, Y:0.34, Z:-0.01 [[ 9.95428843e-01 -9.52991202e-02 -6.28456409e-03 7.17759229e+00] [ 9.52977005e-02 9.95448679e-01 -5.25663539e-04 3.36837449e-01] [ 6.30605629e-03 -7.56438578e-05 9.99980114e-01 -1.31385220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.581858064 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:7.21, Y:0.34, Z:-0.01 [[ 9.95430624e-01 -9.52805225e-02 -6.28442313e-03 7.20533636e+00] [ 9.52790918e-02 9.95450459e-01 -5.27343382e-04 3.41367635e-01] [ 6.30607744e-03 -7.38403760e-05 9.99980114e-01 -1.46958214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.611858064 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:7.23, Y:0.34, Z:-0.02 [[ 9.95509633e-01 -9.44514630e-02 -6.28428285e-03 7.23203813e+00] [ 9.44500052e-02 9.95529465e-01 -5.29009858e-04 3.44961641e-01] [ 6.30615450e-03 -6.69161375e-05 9.99980114e-01 -1.53172016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.641858064000001 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:7.26, Y:0.35, Z:-0.02 [[ 9.95624985e-01 -9.32276713e-02 -6.28422190e-03 7.26021119e+00] [ 9.32261846e-02 9.95644815e-01 -5.29732895e-04 3.48476724e-01] [ 6.30623871e-03 -5.84387246e-05 9.99980114e-01 -1.56495860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.671858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.29, Y:0.35, Z:-0.02 [[ 9.95968003e-01 -8.94888156e-02 -6.28407355e-03 7.28833997e+00] [ 8.94872434e-02 9.95987827e-01 -5.31486934e-04 3.53587307e-01] [ 6.30642289e-03 -3.30004385e-05 9.99980114e-01 -1.56648434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.701858064 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:7.32, Y:0.36, Z:-0.02 [[ 9.96152453e-01 -8.74116884e-02 -6.28392483e-03 7.31597729e+00] [ 8.74100638e-02 9.96172272e-01 -5.33239452e-04 3.57318654e-01] [ 6.30648304e-03 -1.80904831e-05 9.99980114e-01 -1.60329868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.731858064 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:7.34, Y:0.36, Z:-0.02 [[ 9.96562147e-01 -8.26099392e-02 -6.28377450e-03 7.34285221e+00] [ 8.26082080e-02 9.96581957e-01 -5.35005173e-04 3.62760059e-01] [ 6.30649303e-03 1.40745536e-05 9.99980114e-01 -1.70686398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.761858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:7.37, Y:0.37, Z:-0.02 [[ 9.96765718e-01 -8.01162793e-02 -6.28370922e-03 7.37051724e+00] [ 8.01144936e-02 9.96785524e-01 -5.35770747e-04 3.66654221e-01] [ 6.30643435e-03 3.06217314e-05 9.99980114e-01 -1.68654948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.791858064 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:7.40, Y:0.37, Z:-0.02 [[ 9.96955693e-01 -7.77165584e-02 -6.28355987e-03 7.39802790e+00] [ 7.77147141e-02 9.96975493e-01 -5.37516615e-04 3.70193228e-01] [ 6.30632915e-03 4.75551902e-05 9.99980114e-01 -1.67010661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.821858064 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:7.43, Y:0.37, Z:-0.02 [[ 9.97242101e-01 -7.39507280e-02 -6.28341087e-03 7.42577818e+00] [ 7.39487980e-02 9.97261894e-01 -5.39252805e-04 3.74316104e-01] [ 6.30608436e-03 7.31149191e-05 9.99980114e-01 -1.50104313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.851858064 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:7.45, Y:0.38, Z:-0.01 [[ 9.97337419e-01 -7.26539310e-02 -6.28325795e-03 7.45217336e+00] [ 7.26519641e-02 9.97357208e-01 -5.41028786e-04 3.77517881e-01] [ 6.30596047e-03 8.30972224e-05 9.99980114e-01 -1.40444610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.881858064 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:7.48, Y:0.38, Z:-0.01 [[ 9.97386228e-01 -7.19807890e-02 -6.28319158e-03 7.47993461e+00] [ 7.19788039e-02 9.97406015e-01 -5.41798467e-04 3.81029329e-01] [ 6.30589215e-03 8.81257150e-05 9.99980114e-01 -1.29232756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.911858064 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:7.51, Y:0.38, Z:-0.01 [[ 9.97498523e-01 -7.04075246e-02 -6.28303700e-03 7.50689390e+00] [ 7.04054970e-02 9.97518306e-01 -5.43585117e-04 3.84719079e-01] [ 6.30571691e-03 9.98650087e-05 9.99980114e-01 -1.15009041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.941858064 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:7.54, Y:0.39, Z:-0.01 [[ 9.97524920e-01 -7.00325534e-02 -6.28293180e-03 7.53514392e+00] [ 7.00305107e-02 9.97544701e-01 -5.44798410e-04 3.88096638e-01] [ 6.30565895e-03 1.03453068e-04 9.99980114e-01 -1.10879219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.971858064 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.56, Y:0.39, Z:-0.01 [[ 9.97568475e-01 -6.94093956e-02 -6.28277748e-03 7.56196553e+00] [ 6.94073294e-02 9.97588254e-01 -5.46572300e-04 3.91695176e-01] [ 6.30556226e-03 1.09172490e-04 9.99980114e-01 -1.00816851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001858064 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.59, Y:0.40, Z:-0.01 [[ 9.97594220e-01 -6.90383976e-02 -6.28271052e-03 7.59015703e+00] [ 6.90363192e-02 9.97613997e-01 -5.47340894e-04 3.95151297e-01] [ 6.30550749e-03 1.12288904e-04 9.99980114e-01 -1.01168563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.031858064 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:7.62, Y:0.40, Z:-0.01 [[ 9.97655879e-01 -6.81415899e-02 -6.28255660e-03 7.61800079e+00] [ 6.81394827e-02 9.97675653e-01 -5.49101981e-04 3.99308969e-01] [ 6.30537044e-03 1.19724663e-04 9.99980114e-01 -1.12865850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061858064 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:7.65, Y:0.40, Z:-0.01 [[ 9.97633970e-01 -6.84616035e-02 -6.28250877e-03 7.64547956e+00] [ 6.84594991e-02 9.97653745e-01 -5.49648695e-04 4.02736555e-01] [ 6.30539823e-03 1.18250806e-04 9.99980114e-01 -1.20339023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.091858064 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.67, Y:0.41, Z:-0.01 [[ 9.97614192e-01 -6.87492188e-02 -6.28235701e-03 7.67343132e+00] [ 6.87471092e-02 9.97633966e-01 -5.51377750e-04 4.05794437e-01] [ 6.30539954e-03 1.18168385e-04 9.99980114e-01 -1.30937294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121858064 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.70, Y:0.41, Z:-0.02 [[ 9.97467164e-01 -7.08504758e-02 -6.28220546e-03 7.70137645e+00] [ 7.08483971e-02 9.97486942e-01 -5.53099148e-04 4.09870804e-01] [ 6.30560525e-03 1.06614051e-04 9.99980114e-01 -1.50078837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.151858064 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:7.73, Y:0.41, Z:-0.02 [[ 9.97345482e-01 -7.25432652e-02 -6.28204841e-03 7.72879758e+00] [ 7.25412088e-02 9.97365262e-01 -5.54877187e-04 4.12906166e-01] [ 6.30574946e-03 9.76968700e-05 9.99980114e-01 -1.64151383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.181858064 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:7.76, Y:0.42, Z:-0.02 [[ 9.97158924e-01 -7.50640936e-02 -6.28189220e-03 7.75662342e+00] [ 7.50620761e-02 9.97178708e-01 -5.56640014e-04 4.16026537e-01] [ 6.30595283e-03 8.35266870e-05 9.99980114e-01 -1.75989726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.211858064 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:7.78, Y:0.42, Z:-0.02 [[ 9.96790816e-01 -7.98035703e-02 -6.28173644e-03 7.78367072e+00] [ 7.98016359e-02 9.96810607e-01 -5.58392349e-04 4.19212126e-01] [ 6.30626322e-03 5.53075214e-05 9.99980114e-01 -1.81950044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.241858064 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:7.81, Y:0.42, Z:-0.02 [[ 9.96558677e-01 -8.26519505e-02 -6.28163032e-03 7.81107820e+00] [ 8.26500652e-02 9.96578473e-01 -5.59583605e-04 4.22458137e-01] [ 6.30638823e-03 3.84807423e-05 9.99980114e-01 -1.69209450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.271858064 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:7.84, Y:0.43, Z:-0.02 [[ 9.96344669e-01 -8.51929793e-02 -6.28147086e-03 7.83803956e+00] [ 8.51911332e-02 9.96364469e-01 -5.61367831e-04 4.26000050e-01] [ 6.30645898e-03 2.41902252e-05 9.99980114e-01 -1.63082657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301858064 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:7.87, Y:0.43, Z:-0.01 [[ 9.95944989e-01 -8.97447712e-02 -6.28136222e-03 7.86578920e+00] [ 8.97430080e-02 9.95964797e-01 -5.62580821e-04 4.32036972e-01] [ 6.30650434e-03 -3.40879055e-06 9.99980114e-01 -1.42888964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.331858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:7.89, Y:0.44, Z:-0.01 [[ 9.95757658e-01 -9.17999663e-02 -6.28120403e-03 7.89256098e+00] [ 9.17982328e-02 9.95777468e-01 -5.64341529e-04 4.36517021e-01] [ 6.30648798e-03 -1.46560311e-05 9.99980114e-01 -1.32654265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:7.92, Y:0.44, Z:-0.01 [[ 9.95576551e-01 -9.37436838e-02 -6.28109639e-03 7.92055212e+00] [ 9.37419815e-02 9.95596365e-01 -5.65536977e-04 4.40735103e-01] [ 6.30645226e-03 -2.57670688e-05 9.99980114e-01 -1.17738589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.95, Y:0.45, Z:-0.01 [[ 9.95322282e-01 -9.64059376e-02 -6.28094206e-03 7.94842060e+00] [ 9.64042775e-02 9.95342099e-01 -5.67245843e-04 4.46614513e-01] [ 6.30637192e-03 -4.09172547e-05 9.99980114e-01 -9.88607014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.98, Y:0.45, Z:-0.01 [[ 9.95259481e-01 -9.70521373e-02 -6.28078401e-03 7.97631823e+00] [ 9.70504790e-02 9.95279298e-01 -5.68990514e-04 4.51257544e-01] [ 6.30635604e-03 -4.32598927e-05 9.99980114e-01 -9.65500703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.451858064 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.00, Y:0.46, Z:-0.01 [[ 9.95255892e-01 -9.70889481e-02 -6.28062462e-03 8.00282077e+00] [ 9.70872795e-02 9.95275708e-01 -5.70744447e-04 4.56158217e-01] [ 6.30636609e-03 -4.17319842e-05 9.99980114e-01 -1.00529267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.03, Y:0.46, Z:-0.01 [[ 9.95458479e-01 -9.49893264e-02 -6.28051603e-03 8.02954915e+00] [ 9.49876084e-02 9.95478291e-01 -5.71936919e-04 4.63711780e-01] [ 6.30644526e-03 -2.72317417e-05 9.99980114e-01 -1.13550784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.06, Y:0.47, Z:-0.01 [[ 9.95588467e-01 -9.36170966e-02 -6.28044750e-03 8.05704493e+00] [ 9.36153466e-02 9.95608276e-01 -5.72688487e-04 4.69276188e-01] [ 6.30647894e-03 -1.77842163e-05 9.99980114e-01 -1.17871365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.08, Y:0.48, Z:-0.01 [[ 9.95893510e-01 -9.03143106e-02 -6.28029150e-03 8.08476555e+00] [ 9.03124842e-02 9.95913312e-01 -5.74394148e-04 4.76977936e-01] [ 6.30650192e-03 4.84667795e-06 9.99980114e-01 -1.20837392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.11, Y:0.48, Z:-0.01 [[ 9.96010552e-01 -8.90142715e-02 -6.28012864e-03 8.11099041e+00] [ 8.90124080e-02 9.96030351e-01 -5.76169245e-04 4.81662897e-01] [ 6.30648602e-03 1.48612747e-05 9.99980114e-01 -1.22402203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.14, Y:0.49, Z:-0.01 [[ 9.96105275e-01 -8.79479480e-02 -6.28005800e-03 8.13870703e+00] [ 8.79460585e-02 9.96125071e-01 -5.76938149e-04 4.86076984e-01] [ 6.30646375e-03 2.23847847e-05 9.99980114e-01 -1.08023154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.17, Y:0.49, Z:-0.01 [[ 9.96296921e-01 -8.57496789e-02 -6.27989622e-03 8.16681460e+00] [ 8.57477346e-02 9.96316712e-01 -5.78693790e-04 4.91885798e-01] [ 6.30638836e-03 3.80639668e-05 9.99980114e-01 -9.98695529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:0.50, Z:-0.01 [[ 9.96400639e-01 -8.45359744e-02 -6.27973285e-03 8.19377209e+00] [ 8.45339949e-02 9.96420427e-01 -5.80461182e-04 4.96034516e-01] [ 6.30632394e-03 4.75209881e-05 9.99980114e-01 -1.03487863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.22, Y:0.50, Z:-0.01 [[ 9.96445422e-01 -8.40064671e-02 -6.27966194e-03 8.22108175e+00] [ 8.40044722e-02 9.96465208e-01 -5.81227357e-04 5.00264943e-01] [ 6.30629150e-03 5.16416525e-05 9.99980114e-01 -1.04682185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.25, Y:0.50, Z:-0.01 [[ 9.96511000e-01 -8.32249659e-02 -6.27949926e-03 8.24829129e+00] [ 8.32229445e-02 9.96530783e-01 -5.82979691e-04 5.04222267e-01] [ 6.30623278e-03 5.83472567e-05 9.99980114e-01 -1.10013335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.28, Y:0.51, Z:-0.01 [[ 9.96530775e-01 -8.29878538e-02 -6.27942857e-03 8.27622133e+00] [ 8.29858229e-02 9.96550557e-01 -5.83740075e-04 5.08930206e-01] [ 6.30621137e-03 6.06114022e-05 9.99980114e-01 -1.00617474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.30, Y:0.51, Z:-0.01 [[ 9.96503723e-01 -8.33120688e-02 -6.27926576e-03 8.30337345e+00] [ 8.33100333e-02 9.96523505e-01 -5.85486217e-04 5.11782688e-01] [ 6.30621399e-03 6.03133555e-05 9.99980114e-01 -9.85243964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.33, Y:0.51, Z:-0.01 [[ 9.96478516e-01 -8.36130349e-02 -6.27915490e-03 8.33099166e+00] [ 8.36109979e-02 9.96498297e-01 -5.86672738e-04 5.14137013e-01] [ 6.30622065e-03 5.96003723e-05 9.99980114e-01 -9.06226509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.36, Y:0.52, Z:-0.01 [[ 9.96444127e-01 -8.40218794e-02 -6.27898734e-03 8.35767548e+00] [ 8.40198393e-02 9.96463908e-01 -5.88460664e-04 5.16467405e-01] [ 6.30622783e-03 5.88086656e-05 9.99980114e-01 -8.87147168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.38, Y:0.52, Z:-0.01 [[ 9.96437572e-01 -8.40995923e-02 -6.27887332e-03 8.38488743e+00] [ 8.40975461e-02 9.96457352e-01 -5.89674653e-04 5.19073887e-01] [ 6.30622089e-03 5.95361401e-05 9.99980114e-01 -9.03319127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.41, Y:0.52, Z:-0.01 [[ 9.96466149e-01 -8.37603164e-02 -6.27880123e-03 8.41232317e+00] [ 8.37582586e-02 9.96485928e-01 -5.90441353e-04 5.21788452e-01] [ 6.30619262e-03 6.24533648e-05 9.99980114e-01 -9.78056953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.44, Y:0.52, Z:-0.01 [[ 9.96624030e-01 -8.18603803e-02 -6.27863717e-03 8.44069277e+00] [ 8.18582739e-02 9.96643804e-01 -5.92180814e-04 5.24121021e-01] [ 6.30604098e-03 7.62232290e-05 9.99980114e-01 -9.10610826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.47, Y:0.53, Z:-0.01 [[ 9.96770520e-01 -8.00569232e-02 -6.27846883e-03 8.46774924e+00] [ 8.00547697e-02 9.96790289e-01 -5.93960245e-04 5.26628446e-01] [ 6.30586739e-03 8.94206867e-05 9.99980114e-01 -8.80237563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.991858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.49, Y:0.53, Z:-0.01 [[ 9.96929579e-01 -7.80512421e-02 -6.27839578e-03 8.49415575e+00] [ 7.80490440e-02 9.96949343e-01 -5.94731401e-04 5.29593969e-01] [ 6.30566207e-03 1.02882536e-04 9.99980114e-01 -9.08174357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.52, Y:0.53, Z:-0.01 [[ 9.97299701e-01 -7.31702809e-02 -6.27828222e-03 8.52218577e+00] [ 7.31679785e-02 9.97319453e-01 -5.95927750e-04 5.34650667e-01] [ 6.30505719e-03 1.34949348e-04 9.99980114e-01 -1.09618418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.55, Y:0.54, Z:-0.01 [[ 9.97450334e-01 -7.10873822e-02 -6.27811769e-03 8.54933632e+00] [ 7.10850278e-02 9.97470081e-01 -5.97656055e-04 5.38049775e-01] [ 6.30472037e-03 1.49852061e-04 9.99980114e-01 -1.16621733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.58, Y:0.54, Z:-0.01 [[ 9.97540797e-01 -6.98064878e-02 -6.27800547e-03 8.57710530e+00] [ 6.98041006e-02 9.97560539e-01 -5.98832536e-04 5.40863231e-01] [ 6.30449292e-03 1.59129359e-04 9.99980114e-01 -1.13949283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.60, Y:0.54, Z:-0.01 [[ 9.97641195e-01 -6.83566706e-02 -6.27784216e-03 8.60439759e+00] [ 6.83542439e-02 9.97660933e-01 -6.00539746e-04 5.43567331e-01] [ 6.30420876e-03 1.70006035e-04 9.99980114e-01 -1.14667226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.63, Y:0.55, Z:-0.01 [[ 9.97642425e-01 -6.83387200e-02 -6.27777132e-03 8.63204468e+00] [ 6.83362884e-02 9.97662162e-01 -6.01279401e-04 5.46482354e-01] [ 6.30418557e-03 1.70862249e-04 9.99980114e-01 -1.13668322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.66, Y:0.55, Z:-0.01 [[ 9.97632306e-01 -6.84863074e-02 -6.27760973e-03 8.65954188e+00] [ 6.84838681e-02 9.97652042e-01 -6.02961717e-04 5.49102976e-01] [ 6.30416479e-03 1.71619091e-04 9.99980114e-01 -1.05202345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.69, Y:0.55, Z:-0.01 [[ 9.97570593e-01 -6.93794398e-02 -6.27743759e-03 8.68609597e+00] [ 6.93770070e-02 9.97590329e-01 -6.04748554e-04 5.50600576e-01] [ 6.30426815e-03 1.67769541e-04 9.99980114e-01 -1.11520712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.71, Y:0.55, Z:-0.01 [[ 9.97501601e-01 -7.03644191e-02 -6.27736296e-03 8.71411677e+00] [ 7.03620009e-02 9.97521339e-01 -6.05522297e-04 5.52391940e-01] [ 6.30441073e-03 1.62321642e-04 9.99980114e-01 -1.11719203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.74, Y:0.55, Z:-0.01 [[ 9.97414286e-01 -7.15914715e-02 -6.27720331e-03 8.74263285e+00] [ 7.15890671e-02 9.97434026e-01 -6.07172824e-04 5.53960617e-01] [ 6.30456457e-03 1.56223720e-04 9.99980114e-01 -1.06534657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.77, Y:0.56, Z:-0.01 [[ 9.97394663e-01 -7.18643549e-02 -6.27703664e-03 8.77105143e+00] [ 7.18619451e-02 9.97414402e-01 -6.08890969e-04 5.56801829e-01] [ 6.30456431e-03 1.56224540e-04 9.99980114e-01 -1.04738394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:0.56, Z:-0.01 [[ 9.97318432e-01 -7.29146446e-02 -6.27686959e-03 8.79894859e+00] [ 7.29122449e-02 9.97338173e-01 -6.10608246e-04 5.58460415e-01] [ 6.30468393e-03 1.51310207e-04 9.99980114e-01 -9.63095654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.351858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.83, Y:0.56, Z:-0.01 [[ 9.97270308e-01 -7.35699346e-02 -6.27669774e-03 8.82557335e+00] [ 7.35675367e-02 9.97290049e-01 -6.12369616e-04 5.60819872e-01] [ 6.30474020e-03 1.48936844e-04 9.99980114e-01 -1.04291896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.85, Y:0.56, Z:-0.01 [[ 9.97223656e-01 -7.41996319e-02 -6.27658083e-03 8.85352737e+00] [ 7.41972390e-02 9.97243397e-01 -6.13565641e-04 5.63781921e-01] [ 6.30480513e-03 1.46157204e-04 9.99980114e-01 -9.72485153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.88, Y:0.57, Z:-0.01 [[ 9.97130824e-01 -7.54369032e-02 -6.27641071e-03 8.88108065e+00] [ 7.54345239e-02 9.97150567e-01 -6.15300928e-04 5.65718496e-01] [ 6.30494290e-03 1.40077468e-04 9.99980114e-01 -9.03070007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.91, Y:0.57, Z:-0.01 [[ 9.96806115e-01 -7.96126752e-02 -6.27624067e-03 8.90771346e+00] [ 7.96103677e-02 9.96825867e-01 -6.17030573e-04 5.66645003e-01] [ 6.30544250e-03 1.15406021e-04 9.99980114e-01 -8.08087483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.93, Y:0.57, Z:-0.01 [[ 9.96150198e-01 -8.74379375e-02 -6.27616683e-03 8.92980793e+00] [ 8.74357804e-02 9.96169967e-01 -6.17780649e-04 5.74425454e-01] [ 6.30614637e-03 6.66407707e-05 9.99980114e-01 -1.29802417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.97, Y:0.57, Z:-0.01 [[ 9.96266293e-01 -8.61057880e-02 -6.26637150e-03 8.96555353e+00] [ 8.61029821e-02 9.96285984e-01 -7.16679438e-04 5.70239207e-01] [ 6.30480835e-03 1.74450293e-04 9.99980109e-01 -7.58897751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.99, Y:0.57, Z:-0.01 [[ 9.95574072e-01 -9.37703558e-02 -6.27602441e-03 8.99266902e+00] [ 9.37683183e-02 9.95593853e-01 -6.18773372e-04 5.70365679e-01] [ 6.30639392e-03 2.75424709e-05 9.99980114e-01 -6.94376056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561858063999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.02, Y:0.57, Z:-0.00 [[ 9.95157802e-01 -9.80895605e-02 -6.27591105e-03 9.02134351e+00] [ 9.80876016e-02 9.95177591e-01 -6.19920946e-04 5.71912800e-01] [ 6.30645382e-03 1.33010293e-06 9.99980114e-01 -4.65585645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.05, Y:0.57, Z:-0.00 [[ 9.94840662e-01 -1.01255394e-01 -6.27715422e-03 9.04866986e+00] [ 1.01253577e-01 9.94860465e-01 -6.07342788e-04 5.73272419e-01] [ 6.30638929e-03 -3.13750176e-05 9.99980114e-01 -4.48687885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.08, Y:0.57, Z:-0.00 [[ 9.94232881e-01 -1.07058839e-01 -6.27568880e-03 9.07673020e+00] [ 1.07057045e-01 9.94252685e-01 -6.22125196e-04 5.73383972e-01] [ 6.30622444e-03 -5.33193700e-05 9.99980114e-01 -2.65347553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.10, Y:0.58, Z:-0.00 [[ 9.94071043e-01 -1.08551275e-01 -6.27551234e-03 9.10321628e+00] [ 1.08549499e-01 9.94090850e-01 -6.23900067e-04 5.75357545e-01] [ 6.30615454e-03 -6.10027290e-05 9.99980114e-01 -2.51468023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.13, Y:0.58, Z:-0.00 [[ 9.93991135e-01 -1.09280571e-01 -6.27543589e-03 9.13130957e+00] [ 1.09278805e-01 9.94010942e-01 -6.24668087e-04 5.78119007e-01] [ 6.30611603e-03 -6.48575918e-05 9.99980114e-01 -1.47116215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.16, Y:0.58, Z:0.00 [[ 9.94199098e-01 -1.07372128e-01 -6.27526277e-03 9.15994163e+00] [ 1.07370313e-01 9.94218901e-01 -6.26402446e-04 5.81112361e-01] [ 6.30624302e-03 -5.10081792e-05 9.99980114e-01 5.74348242e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.19, Y:0.58, Z:0.00 [[ 9.94439183e-01 -1.05125254e-01 -6.27634595e-03 9.18802625e+00] [ 1.05123463e-01 9.94458988e-01 -6.15563042e-04 5.84602016e-01] [ 6.30627986e-03 -4.76512098e-05 9.99980114e-01 3.02881732e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.771858064 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:9.22, Y:0.59, Z:-0.00 [[ 9.94641586e-01 -1.03192733e-01 -6.27498822e-03 9.21620255e+00] [ 1.03190817e-01 9.94661379e-01 -6.29105623e-04 5.88156601e-01] [ 6.30640757e-03 -2.17865492e-05 9.99980114e-01 -4.78213650e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.24, Y:0.59, Z:-0.00 [[ 9.95044257e-01 -9.92348397e-02 -6.27480858e-03 9.24471953e+00] [ 9.92328344e-02 9.95064041e-01 -6.30892359e-04 5.92853293e-01] [ 6.30644288e-03 5.09877830e-06 9.99980114e-01 -2.02695614e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.27, Y:0.60, Z:-0.00 [[ 9.95210631e-01 -9.75521498e-02 -6.27523592e-03 9.27194695e+00] [ 9.75501378e-02 9.95230414e-01 -6.26648525e-04 5.96917035e-01] [ 6.30643655e-03 1.14971448e-05 9.99980114e-01 -1.20758740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.30, Y:0.60, Z:-0.00 [[ 9.95362560e-01 -9.59896007e-02 -6.27455242e-03 9.29884590e+00] [ 9.59875149e-02 9.95382336e-01 -6.33419141e-04 6.00699513e-01] [ 6.30638030e-03 2.82030038e-05 9.99980114e-01 -2.10856230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.33, Y:0.61, Z:-0.00 [[ 9.95495941e-01 -9.45963141e-02 -6.27447304e-03 9.32647897e+00] [ 9.45941957e-02 9.95515714e-01 -6.34204475e-04 6.05330708e-01] [ 6.30632991e-03 3.78192497e-05 9.99980114e-01 -1.94243793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:0.61, Z:-0.00 [[ 9.95482951e-01 -9.47329281e-02 -6.27429170e-03 9.35466955e+00] [ 9.47308011e-02 9.95502723e-01 -6.35993496e-04 6.09443412e-01] [ 6.30632399e-03 3.87520036e-05 9.99980114e-01 -1.33413598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:0.61, Z:-0.00 [[ 9.95453076e-01 -9.50463503e-02 -6.27410590e-03 9.38100471e+00] [ 9.50442180e-02 9.95472847e-01 -6.37821158e-04 6.13318057e-01] [ 6.30632464e-03 3.86035446e-05 9.99980114e-01 -1.83077254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.41, Y:0.62, Z:-0.00 [[ 9.95302001e-01 -9.66155459e-02 -6.27402530e-03 9.40864932e+00] [ 9.66134398e-02 9.95321775e-01 -6.38613006e-04 6.16601494e-01] [ 6.30637394e-03 2.94576368e-05 9.99980114e-01 -9.61422637e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.44, Y:0.62, Z:-0.00 [[ 9.95239379e-01 -9.72585127e-02 -6.27384186e-03 9.43559276e+00] [ 9.72564080e-02 9.95259153e-01 -6.40410136e-04 6.19262519e-01] [ 6.30638387e-03 2.71900625e-05 9.99980114e-01 -4.12197999e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.46, Y:0.62, Z:-0.00 [[ 9.95194294e-01 -9.77187660e-02 -6.27376232e-03 9.46247898e+00] [ 9.77166656e-02 9.95214069e-01 -6.41188347e-04 6.22931818e-01] [ 6.30639266e-03 2.50558493e-05 9.99980114e-01 -2.62426970e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.49, Y:0.63, Z:-0.00 [[ 9.95217120e-01 -9.74860276e-02 -6.27368445e-03 9.48968258e+00] [ 9.74839177e-02 9.95236893e-01 -6.41949352e-04 6.28575815e-01] [ 6.30638332e-03 2.72956457e-05 9.99980114e-01 -1.45639042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.52, Y:0.63, Z:-0.00 [[ 9.95266524e-01 -9.69803587e-02 -6.27350560e-03 9.51799286e+00] [ 9.69782279e-02 9.95286295e-01 -6.43692425e-04 6.32199014e-01] [ 6.30635967e-03 3.22520665e-05 9.99980114e-01 -1.50257824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:0.64, Z:-0.00 [[ 9.95335258e-01 -9.62723677e-02 -6.27332399e-03 9.54540919e+00] [ 9.62702117e-02 9.95355027e-01 -6.45457579e-04 6.35371669e-01] [ 6.30632430e-03 3.85124577e-05 9.99980114e-01 -1.20838155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161858064 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:9.57, Y:0.64, Z:-0.00 [[ 9.95494975e-01 -9.46065631e-02 -6.27313858e-03 9.57207828e+00] [ 9.46043627e-02 9.95514739e-01 -6.47254507e-04 6.38682835e-01] [ 6.30623644e-03 5.08723322e-05 9.99980114e-01 -9.83788706e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.60, Y:0.64, Z:-0.00 [[ 9.95552318e-01 -9.40012280e-02 -6.27305806e-03 9.59968906e+00] [ 9.39990106e-02 9.95572080e-01 -6.48034012e-04 6.41099946e-01] [ 6.30619745e-03 5.54905118e-05 9.99980114e-01 -7.75414906e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221858064 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.63, Y:0.64, Z:-0.00 [[ 9.95577275e-01 -9.37365476e-02 -6.27287124e-03 9.62729187e+00] [ 9.37343136e-02 9.95597035e-01 -6.49837359e-04 6.43252962e-01] [ 6.30616552e-03 5.89800275e-05 9.99980114e-01 -8.17466416e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.65, Y:0.64, Z:-0.00 [[ 9.95627343e-01 -9.32032589e-02 -6.27268407e-03 9.65387710e+00] [ 9.32010029e-02 9.95647100e-01 -6.51639086e-04 6.44919373e-01] [ 6.30611459e-03 6.41692460e-05 9.99980114e-01 -1.22731042e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281858064 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:9.68, Y:0.65, Z:0.00 [[ 9.95658418e-01 -9.28707117e-02 -6.27260289e-03 9.68170091e+00] [ 9.28684443e-02 9.95678174e-01 -6.52419593e-04 6.47916556e-01] [ 6.30608446e-03 6.70601879e-05 9.99980114e-01 6.86600971e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.311858063999999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:9.71, Y:0.65, Z:-0.00 [[ 9.95591462e-01 -9.35858707e-02 -6.27098150e-03 9.70909220e+00] [ 9.35835195e-02 9.95611209e-01 -6.67971104e-04 6.50686307e-01] [ 6.30597213e-03 7.81658085e-05 9.99980114e-01 -3.30416015e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341858064 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:9.74, Y:0.65, Z:-0.00 [[ 9.95561554e-01 -9.39034025e-02 -6.27237078e-03 9.73718824e+00] [ 9.39011415e-02 9.95581311e-01 -6.54660346e-04 6.52443190e-01] [ 6.30612995e-03 6.27718957e-05 9.99980114e-01 -7.97352432e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.371858064 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.77, Y:0.65, Z:-0.00 [[ 9.95529491e-01 -9.42427278e-02 -6.27218668e-03 9.76509180e+00] [ 9.42404624e-02 9.95549248e-01 -6.56419389e-04 6.54523913e-01] [ 6.30613349e-03 6.23910872e-05 9.99980114e-01 -4.59918895e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401858064 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:9.79, Y:0.66, Z:-0.00 [[ 9.95493550e-01 -9.46216350e-02 -6.27200357e-03 9.79352092e+00] [ 9.46193661e-02 9.95513306e-01 -6.58164360e-04 6.56773992e-01] [ 6.30613960e-03 6.17453733e-05 9.99980114e-01 -6.67682611e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.431858064 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:9.82, Y:0.66, Z:-0.00 [[ 9.95446362e-01 -9.51167943e-02 -6.27182011e-03 9.82005789e+00] [ 9.51145243e-02 9.95466118e-01 -6.59908007e-04 6.58720461e-01] [ 6.30615275e-03 6.03618388e-05 9.99980114e-01 -1.84600431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461858064 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:9.85, Y:0.66, Z:-0.00 [[ 9.95429863e-01 -9.52893103e-02 -6.27174053e-03 9.84798372e+00] [ 9.52870389e-02 9.95449619e-01 -6.60663466e-04 6.60886984e-01] [ 6.30615588e-03 6.00285602e-05 9.99980114e-01 -2.24218713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.491858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.88, Y:0.66, Z:-0.00 [[ 9.95401486e-01 -9.55852955e-02 -6.27156044e-03 9.87579771e+00] [ 9.55830192e-02 9.95421241e-01 -6.62368562e-04 6.62411523e-01] [ 6.30615718e-03 5.98679682e-05 9.99980114e-01 -2.01504410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.90, Y:0.66, Z:-0.00 [[ 9.95377449e-01 -9.58352992e-02 -6.27137282e-03 9.90316993e+00] [ 9.58330167e-02 9.95397203e-01 -6.64140307e-04 6.63958633e-01] [ 6.30615505e-03 6.00657089e-05 9.99980114e-01 -2.35996280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.551858064 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:9.93, Y:0.67, Z:-0.00 [[ 9.95439259e-01 -9.51911405e-02 -6.27124527e-03 9.92999568e+00] [ 9.51888376e-02 9.95459011e-01 -6.65342546e-04 6.65172083e-01] [ 6.30610233e-03 6.53555435e-05 9.99980114e-01 -2.60752476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581858064 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:9.96, Y:0.67, Z:-0.00 [[ 9.95453430e-01 -9.50428338e-02 -6.27116719e-03 9.95844513e+00] [ 9.50405234e-02 9.95473182e-01 -6.66077642e-04 6.67583659e-01] [ 6.30608466e-03 6.70342618e-05 9.99980114e-01 -1.02784868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.611858064 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:9.99, Y:0.67, Z:0.00 [[ 9.95460074e-01 -9.49732306e-02 -6.27101613e-03 9.98752966e+00] [ 9.49709099e-02 9.95479824e-01 -6.67496898e-04 6.68428213e-01] [ 6.30606438e-03 6.89024038e-05 9.99980114e-01 2.22482394e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641858064 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:10.02, Y:0.67, Z:0.00 [[ 9.95477961e-01 -9.47855786e-02 -6.27085555e-03 1.00157457e+01] [ 9.47832447e-02 9.95497709e-01 -6.69002098e-04 6.70242037e-01] [ 6.30603409e-03 7.16048079e-05 9.99980114e-01 1.03201918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.671858064 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:10.04, Y:0.67, Z:0.00 [[ 9.95549485e-01 -9.40313897e-02 -6.27066732e-03 1.00424291e+01] [ 9.40290297e-02 9.95569230e-01 -6.70761776e-04 6.71953804e-01] [ 6.30595610e-03 7.81517759e-05 9.99980114e-01 1.33377958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701858064 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:10.07, Y:0.67, Z:0.00 [[ 9.95623523e-01 -9.32441937e-02 -6.27058568e-03 1.00701843e+01] [ 9.32418133e-02 9.95643266e-01 -6.71524111e-04 6.73240455e-01] [ 6.30588213e-03 8.39044222e-05 9.99980114e-01 1.89584500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.731858064 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:10.10, Y:0.67, Z:0.00 [[ 9.95838770e-01 -9.09165888e-02 -6.27039670e-03 1.00976002e+01] [ 9.09141512e-02 9.95858506e-01 -6.73284145e-04 6.73070363e-01] [ 6.30564059e-03 1.00414661e-04 9.99980114e-01 2.37202475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761858064 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:10.13, Y:0.68, Z:0.00 [[ 9.95967302e-01 -8.94975794e-02 -6.27031469e-03 1.01258764e+01] [ 8.94951089e-02 9.95987034e-01 -6.74047073e-04 6.75703704e-01] [ 6.30547771e-03 1.10166349e-04 9.99980114e-01 3.83884780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.791858064 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:10.15, Y:0.68, Z:0.00 [[ 9.96275070e-01 -8.60038990e-02 -6.27012919e-03 1.01541174e+01] [ 8.60013485e-02 9.96294791e-01 -6.75768239e-04 6.77656296e-01] [ 6.30501575e-03 1.34011485e-04 9.99980114e-01 4.94531634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821858064 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:10.18, Y:0.68, Z:0.01 [[ 9.96349935e-01 -8.51322099e-02 -6.27007171e-03 1.01825302e+01] [ 8.51296388e-02 9.96369654e-01 -6.76301117e-04 6.79833710e-01] [ 6.30488419e-03 1.40063634e-04 9.99980114e-01 5.93879163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.851858064 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:10.21, Y:0.68, Z:0.01 [[ 9.96408110e-01 -8.44486092e-02 -6.26987827e-03 1.02105104e+01] [ 8.44460133e-02 9.96427825e-01 -6.78089772e-04 6.81721026e-01] [ 6.30474490e-03 1.46187924e-04 9.99980114e-01 6.81149694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881858064 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:10.24, Y:0.68, Z:0.01 [[ 9.96453557e-01 -8.39106701e-02 -6.26959465e-03 1.02390250e+01] [ 8.39080471e-02 9.96473269e-01 -6.80705960e-04 6.81134366e-01] [ 6.30460197e-03 1.52222432e-04 9.99980114e-01 8.02563624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.911858064 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:10.27, Y:0.68, Z:0.01 [[ 9.96406994e-01 -8.44617892e-02 -6.26963566e-03 1.02665622e+01] [ 8.44591795e-02 9.96426708e-01 -6.80328079e-04 6.82434213e-01] [ 6.30469415e-03 1.48355373e-04 9.99980114e-01 8.58592121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941858064 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:10.29, Y:0.68, Z:0.01 [[ 9.96327639e-01 -8.53927893e-02 -6.26955366e-03 1.02942977e+01] [ 8.53901932e-02 9.96347355e-01 -6.81082896e-04 6.84056974e-01] [ 6.30481277e-03 1.43223315e-04 9.99980114e-01 8.94631450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.971858064 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:10.32, Y:0.69, Z:0.01 [[ 9.96253953e-01 -8.62482198e-02 -6.26936143e-03 1.03224572e+01] [ 8.62456296e-02 9.96273670e-01 -6.82847803e-04 6.86172175e-01] [ 6.30489413e-03 1.39584800e-04 9.99980114e-01 8.52703577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001858064 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:10.35, Y:0.69, Z:0.01 [[ 9.96051745e-01 -8.85529163e-02 -6.26916953e-03 1.03500058e+01] [ 8.85503606e-02 9.96071466e-01 -6.84605137e-04 6.87357815e-01] [ 6.30516466e-03 1.26764919e-04 9.99980114e-01 7.12993751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.031858064 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:10.38, Y:0.69, Z:0.01 [[ 9.95884200e-01 -9.04176952e-02 -6.26903900e-03 1.03782538e+01] [ 9.04151690e-02 9.95903925e-01 -6.85798291e-04 6.89050403e-01] [ 6.30536884e-03 1.16159461e-04 9.99980114e-01 7.23703614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061858063999999 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:10.41, Y:0.69, Z:0.01 [[ 9.95733529e-01 -9.20621613e-02 -6.26885219e-03 1.04064069e+01] [ 9.20596569e-02 9.95753256e-01 -6.87501654e-04 6.89492895e-01] [ 6.30552287e-03 1.07460066e-04 9.99980114e-01 7.60422107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.091858064 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:10.43, Y:0.69, Z:0.01 [[ 9.95439919e-01 -9.51844112e-02 -6.26866259e-03 1.04345220e+01] [ 9.51819579e-02 9.95459653e-01 -6.89226110e-04 6.88366383e-01] [ 6.30580427e-03 8.94196040e-05 9.99980114e-01 8.61166089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121858064 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:10.46, Y:0.69, Z:0.01 [[ 9.95329307e-01 -9.63341963e-02 -6.26847087e-03 1.04629641e+01] [ 9.63317548e-02 9.95349042e-01 -6.90965477e-04 6.90214812e-01] [ 6.30588008e-03 8.38853910e-05 9.99980114e-01 8.74665098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.151858064 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:10.49, Y:0.69, Z:0.01 [[ 9.95231248e-01 -9.73420387e-02 -6.26827287e-03 1.04902378e+01] [ 9.73396059e-02 9.95250984e-01 -6.92757009e-04 6.92476331e-01] [ 6.30593912e-03 7.93022123e-05 9.99980114e-01 8.08932229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181858064 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:10.52, Y:0.69, Z:0.01 [[ 9.95104359e-01 -9.86307492e-02 -6.26818699e-03 1.05189009e+01] [ 9.86283370e-02 9.95124098e-01 -6.93533153e-04 6.92916770e-01] [ 6.30602762e-03 7.19170046e-05 9.99980114e-01 8.25065372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.211858064 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:10.55, Y:0.70, Z:0.01 [[ 9.95076213e-01 -9.89143163e-02 -6.26798863e-03 1.05472973e+01] [ 9.89118985e-02 9.95095952e-01 -6.95321270e-04 6.96133707e-01] [ 6.30602734e-03 7.19190007e-05 9.99980114e-01 8.43028054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241858064 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:10.58, Y:0.70, Z:0.01 [[ 9.94990917e-01 -9.97686829e-02 -6.26778999e-03 1.05757409e+01] [ 9.97662708e-02 9.95010656e-01 -6.97107342e-04 6.98195247e-01] [ 6.30606731e-03 6.83014406e-05 9.99980114e-01 8.49173227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.271858064 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:10.60, Y:0.70, Z:0.01 [[ 9.94847441e-01 -1.01189247e-01 -6.26936479e-03 1.06030002e+01] [ 1.01186952e-01 9.94867194e-01 -6.82955861e-04 6.98555386e-01] [ 6.30629315e-03 4.50589757e-05 9.99980114e-01 7.41712536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:10.63, Y:0.70, Z:0.01 [[ 9.94721928e-01 -1.02415842e-01 -6.26753215e-03 1.06314186e+01] [ 1.02413468e-01 9.94741671e-01 -6.99379138e-04 7.00382795e-01] [ 6.30620291e-03 5.38080612e-05 9.99980114e-01 8.00162600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.331858064 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:10.66, Y:0.70, Z:0.01 [[ 9.94605789e-01 -1.03537626e-01 -6.26775289e-03 1.06584598e+01] [ 1.03535287e-01 9.94625537e-01 -6.97402651e-04 7.02159386e-01] [ 6.30627449e-03 4.47071181e-05 9.99980114e-01 8.81439939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361858064 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:10.69, Y:0.70, Z:0.01 [[ 9.94462586e-01 -1.04904175e-01 -6.26726888e-03 1.06867980e+01] [ 1.04901836e-01 9.94482334e-01 -7.01725459e-04 7.04340110e-01] [ 6.30630211e-03 4.03917052e-05 9.99980114e-01 8.79858157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.391858064 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:10.72, Y:0.70, Z:0.01 [[ 9.94242299e-01 -1.06971844e-01 -6.26707231e-03 1.07154902e+01] [ 1.06969534e-01 9.94262050e-01 -7.03476658e-04 7.04319720e-01] [ 6.30636435e-03 2.90404434e-05 9.99980114e-01 1.00579097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:10.74, Y:0.71, Z:0.01 [[ 9.94069085e-01 -1.08569706e-01 -6.26686955e-03 1.07438808e+01] [ 1.08567417e-01 9.94088838e-01 -7.05278280e-04 7.06023566e-01] [ 6.30639693e-03 2.07174965e-05 9.99980114e-01 1.04274376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.451858064 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:10.77, Y:0.71, Z:0.01 [[ 9.93839368e-01 -1.10652786e-01 -6.26666315e-03 1.07719535e+01] [ 1.10650527e-01 9.93859125e-01 -7.07107463e-04 7.06327041e-01] [ 6.30642377e-03 9.34165393e-06 9.99980114e-01 1.00642518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481858064 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:10.80, Y:0.71, Z:0.01 [[ 9.93701496e-01 -1.11884169e-01 -6.26659939e-03 1.07992952e+01] [ 1.11881931e-01 9.93721255e-01 -7.07672080e-04 7.07839398e-01] [ 6.30643031e-03 2.09556298e-06 9.99980114e-01 9.90833998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.511858064 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:10.83, Y:0.71, Z:0.01 [[ 9.93877653e-01 -1.10308398e-01 -6.26646149e-03 1.08333163e+01] [ 1.10306121e-01 9.93897408e-01 -7.08891107e-04 7.05762953e-01] [ 6.30641647e-03 1.33219715e-05 9.99980114e-01 8.55634515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541858064 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:10.86, Y:0.71, Z:0.01 [[ 9.93867074e-01 -1.10403144e-01 -6.27575391e-03 1.08643824e+01] [ 1.10401391e-01 9.93886885e-01 -6.26259200e-04 7.05971722e-01] [ 6.30653049e-03 -7.04335601e-05 9.99980111e-01 7.04886678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.571858064 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:10.89, Y:0.71, Z:0.01 [[ 9.93299131e-01 -1.15400987e-01 -6.28080893e-03 1.08850107e+01] [ 1.15399617e-01 9.93318977e-01 -5.81306311e-04 7.12571779e-01] [ 6.30593002e-03 -1.47391889e-04 9.99980107e-01 9.44505245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601858064 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:10.92, Y:0.71, Z:0.01 [[ 9.93573233e-01 -1.13017538e-01 -6.26624181e-03 1.09209733e+01] [ 1.13015309e-01 9.93592993e-01 -7.09891328e-04 7.08850140e-01] [ 6.30632413e-03 -2.85223067e-06 9.99980115e-01 5.53733082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.631858064 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:10.95, Y:0.71, Z:0.01 [[ 9.93508176e-01 -1.13587309e-01 -6.27917561e-03 1.09492641e+01] [ 1.13585814e-01 9.93528011e-01 -5.95327280e-04 7.10810560e-01] [ 6.30615848e-03 -1.21762754e-04 9.99980109e-01 5.72169062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:10.97, Y:0.72, Z:0.01 [[ 9.93150574e-01 -1.16672686e-01 -6.27871269e-03 1.09702760e+01] [ 1.16671227e-01 9.93170411e-01 -5.99393092e-04 7.17103800e-01] [ 6.30576446e-03 -1.37257519e-04 9.99980109e-01 9.58620641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.691858064 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:11.00, Y:0.72, Z:0.01 [[ 9.93561198e-01 -1.13123367e-01 -6.26502112e-03 1.10020681e+01] [ 1.13121083e-01 9.93580950e-01 -7.18738650e-04 7.16030977e-01] [ 6.30611177e-03 5.40485801e-06 9.99980116e-01 1.11866621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.721858064 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:11.03, Y:0.72, Z:0.01 [[ 9.93781346e-01 -1.11172414e-01 -6.27139780e-03 1.10298038e+01] [ 1.11170444e-01 9.93801133e-01 -6.62917721e-04 7.17278000e-01] [ 6.30622041e-03 -3.83988132e-05 9.99980115e-01 1.16423171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.751858064 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:11.06, Y:0.72, Z:0.01 [[ 9.93595770e-01 -1.12818959e-01 -6.27122953e-03 1.10562222e+01] [ 1.12817012e-01 9.93615560e-01 -6.64399789e-04 7.22392653e-01] [ 6.30614813e-03 -4.73565593e-05 9.99980115e-01 1.12214312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.781858064 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:11.08, Y:0.72, Z:0.01 [[ 9.93735524e-01 -1.11581573e-01 -6.26591296e-03 1.10833147e+01] [ 1.11579307e-01 9.93755278e-01 -7.11080037e-04 7.23447515e-01] [ 6.30612751e-03 7.47926346e-06 9.99980116e-01 1.25833429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.811858063999999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:11.11, Y:0.73, Z:0.01 [[ 9.93787653e-01 -1.11116360e-01 -6.26541218e-03 1.11100147e+01] [ 1.11114058e-01 9.93807403e-01 -7.15464211e-04 7.25854151e-01] [ 6.30611278e-03 1.48441271e-05 9.99980116e-01 1.27978982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.841858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:11.14, Y:0.73, Z:0.01 [[ 9.93716975e-01 -1.11746719e-01 -6.26448402e-03 1.11392987e+01] [ 1.11744378e-01 9.93736721e-01 -7.23576915e-04 7.27754318e-01] [ 6.30610516e-03 1.90097914e-05 9.99980116e-01 1.28890209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.871858064 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:11.17, Y:0.72, Z:0.01 [[ 9.94118085e-01 -1.08120219e-01 -6.26513791e-03 1.11727279e+01] [ 1.08117842e-01 9.94137826e-01 -7.17870227e-04 7.24474434e-01] [ 6.30602686e-03 3.62745844e-05 9.99980116e-01 8.54374847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.901858064 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:11.20, Y:0.73, Z:0.01 [[ 9.93649817e-01 -1.12341629e-01 -6.27698059e-03 1.11962737e+01] [ 1.12339990e-01 9.93669638e-01 -6.14147842e-04 7.31469702e-01] [ 6.30623940e-03 -9.49080451e-05 9.99980111e-01 1.40135488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.931858064 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:11.22, Y:0.73, Z:0.02 [[ 9.93609049e-01 -1.12702304e-01 -6.26482342e-03 1.12248271e+01] [ 1.12700005e-01 9.93628799e-01 -7.19938490e-04 7.33081550e-01] [ 6.30604769e-03 9.29176942e-06 9.99980117e-01 1.53206286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961858064 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:11.25, Y:0.74, Z:0.02 [[ 9.93601512e-01 -1.12768749e-01 -6.26461696e-03 1.12514711e+01] [ 1.12766440e-01 9.93621260e-01 -7.21730527e-04 7.35506136e-01] [ 6.30604525e-03 1.06739901e-05 9.99980117e-01 1.54082492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.991858064 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:11.28, Y:0.74, Z:0.02 [[ 9.93568283e-01 -1.13061146e-01 -6.26447650e-03 1.12789682e+01] [ 1.13058835e-01 9.93588032e-01 -7.22947674e-04 7.37901577e-01] [ 6.30604617e-03 1.00434654e-05 9.99980117e-01 1.61255731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021858064 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:11.31, Y:0.74, Z:0.02 [[ 9.93534507e-01 -1.13357589e-01 -6.26427291e-03 1.13073910e+01] [ 1.13355273e-01 9.93554255e-01 -7.24707483e-04 7.40477856e-01] [ 6.30604609e-03 9.93352519e-06 9.99980117e-01 1.68190643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:11.34, Y:0.74, Z:0.02 [[ 9.93525872e-01 -1.13433251e-01 -6.26406739e-03 1.13355517e+01] [ 1.13430925e-01 9.93545619e-01 -7.26479555e-04 7.43463983e-01] [ 6.30604365e-03 1.12372754e-05 9.99980117e-01 1.64883310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:11.36, Y:0.75, Z:0.02 [[ 9.93212159e-01 -1.16148111e-01 -6.26293283e-03 1.13646201e+01] [ 1.16145778e-01 9.93231905e-01 -7.36250751e-04 7.45768645e-01] [ 6.30605884e-03 3.83999263e-06 9.99980117e-01 1.77018833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.111858064 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:11.39, Y:0.75, Z:0.02 [[ 9.93034153e-01 -1.17660256e-01 -6.26382198e-03 1.13924882e+01] [ 1.17658000e-01 9.93053908e-01 -7.28606754e-04 7.48099573e-01] [ 6.30604095e-03 -1.34573779e-05 9.99980117e-01 1.72774588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141858064 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:11.42, Y:0.75, Z:0.02 [[ 9.92809910e-01 -1.19537646e-01 -6.26361715e-03 1.14193062e+01] [ 1.19535417e-01 9.92829668e-01 -7.30363394e-04 7.50704240e-01] [ 6.30601086e-03 -2.36120748e-05 9.99980117e-01 1.72252529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.171858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:11.45, Y:0.75, Z:0.02 [[ 9.92628448e-01 -1.21035253e-01 -6.26352818e-03 1.14481226e+01] [ 1.21033049e-01 9.92648209e-01 -7.31125571e-04 7.50771421e-01] [ 6.30597200e-03 -3.23578731e-05 9.99980117e-01 1.72041266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:11.48, Y:0.75, Z:0.02 [[ 9.92537879e-01 -1.21775645e-01 -6.26500272e-03 1.14764990e+01] [ 1.21773535e-01 9.92557651e-01 -7.18504623e-04 7.52264605e-01] [ 6.30587275e-03 -4.97684737e-05 9.99980117e-01 1.66301392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.231858063999999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:11.50, Y:0.75, Z:0.02 [[ 9.92356466e-01 -1.23245275e-01 -6.26472385e-03 1.15047928e+01] [ 1.23243180e-01 9.92376239e-01 -7.20885680e-04 7.53466766e-01] [ 6.30580885e-03 -5.67089247e-05 9.99980117e-01 1.73351760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261858064 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:11.53, Y:0.76, Z:0.02 [[ 9.92243845e-01 -1.24148674e-01 -6.26562343e-03 1.15308558e+01] [ 1.24146646e-01 9.92263625e-01 -7.13198188e-04 7.58063241e-01] [ 6.30569283e-03 -7.01896183e-05 9.99980116e-01 1.55009354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.291858064 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:11.56, Y:0.76, Z:0.02 [[ 9.92204401e-01 -1.24463734e-01 -6.26145509e-03 1.15609099e+01] [ 1.24461486e-01 9.92224157e-01 -7.48785929e-04 7.61439934e-01] [ 6.30596369e-03 -3.63613141e-05 9.99980117e-01 1.98843627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321858064 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:11.59, Y:0.77, Z:0.01 [[ 9.92023889e-01 -1.25894294e-01 -6.26345249e-03 1.15861420e+01] [ 1.25892183e-01 9.92043660e-01 -7.31749659e-04 7.66450339e-01] [ 6.30574144e-03 -6.26065650e-05 9.99980117e-01 1.31580706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.351858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.62, Y:0.77, Z:0.01 [[ 9.92102490e-01 -1.25273680e-01 -6.25741690e-03 1.16152617e+01] [ 1.25271234e-01 9.92122223e-01 -7.82979244e-04 7.69239350e-01] [ 6.30620905e-03 -7.07867775e-06 9.99980116e-01 1.45326359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381858064 meters Centerline goodness : 0.996416 Centerline is valid? [True, True] Translation: X:11.65, Y:0.77, Z:0.02 [[ 9.92527287e-01 -1.21862289e-01 -6.25840935e-03 1.16497695e+01] [ 1.21859827e-01 9.92547018e-01 -7.74630738e-04 7.69345221e-01] [ 6.30616381e-03 6.19346167e-06 9.99980116e-01 1.77186853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.411858064 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:11.67, Y:0.77, Z:0.02 [[ 9.93097033e-01 -1.17127952e-01 -6.27111926e-03 1.16714077e+01] [ 1.17126073e-01 9.93116830e-01 -6.67237590e-04 7.67900997e-01] [ 6.30610626e-03 -7.18799038e-05 9.99980114e-01 1.96141221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:11.70, Y:0.77, Z:0.02 [[ 9.92862694e-01 -1.19098846e-01 -6.25584981e-03 1.17030674e+01] [ 1.19096196e-01 9.92882401e-01 -7.95772072e-04 7.72505230e-01] [ 6.30609872e-03 4.50444858e-05 9.99980115e-01 2.14076540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.471858064 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:11.73, Y:0.78, Z:0.02 [[ 9.92945545e-01 -1.18405792e-01 -6.26204171e-03 1.17307149e+01] [ 1.18403456e-01 9.92965291e-01 -7.43630788e-04 7.75421344e-01] [ 6.30604026e-03 -3.06250458e-06 9.99980117e-01 2.14382841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501858064 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:11.76, Y:0.78, Z:0.02 [[ 9.93118114e-01 -1.16949564e-01 -6.26183305e-03 1.17590884e+01] [ 1.16947189e-01 9.93137855e-01 -7.45383720e-04 7.78107102e-01] [ 6.30603575e-03 7.95030353e-06 9.99980117e-01 2.11993275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.531858064 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:11.79, Y:0.78, Z:0.02 [[ 9.93029157e-01 -1.17702530e-01 -6.26162043e-03 1.17876830e+01] [ 1.17700159e-01 9.93048898e-01 -7.47165610e-04 7.81254572e-01] [ 6.30603855e-03 4.96351706e-06 9.99980117e-01 1.84032487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.561858063999999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:11.81, Y:0.78, Z:0.02 [[ 9.93274860e-01 -1.15610703e-01 -6.26242400e-03 1.18146134e+01] [ 1.15608332e-01 9.93294601e-01 -7.40440822e-04 7.83839402e-01] [ 6.30603484e-03 1.14728584e-05 9.99980117e-01 2.13016625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.591858064 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:11.84, Y:0.79, Z:0.02 [[ 9.93398773e-01 -1.14541146e-01 -6.26132064e-03 1.18414735e+01] [ 1.14538697e-01 9.93418504e-01 -7.49656420e-04 7.86413198e-01] [ 6.30597829e-03 2.75442634e-05 9.99980117e-01 2.13693668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.621858064 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:11.87, Y:0.79, Z:0.02 [[ 9.93680745e-01 -1.12068612e-01 -6.26117564e-03 1.18694916e+01] [ 1.12066105e-01 9.93700470e-01 -7.50865512e-04 7.87924549e-01] [ 6.30588163e-03 4.44550340e-05 9.99980117e-01 2.18362444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.651858064 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:11.90, Y:0.79, Z:0.02 [[ 9.93783016e-01 -1.11158078e-01 -6.26096335e-03 1.18972598e+01] [ 1.11155543e-01 9.93802736e-01 -7.52631498e-04 7.90443445e-01] [ 6.30582358e-03 5.20116211e-05 9.99980117e-01 2.17382055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.681858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:11.93, Y:0.79, Z:0.02 [[ 9.93817152e-01 -1.10852476e-01 -6.26075170e-03 1.19264499e+01] [ 1.10849923e-01 9.93836871e-01 -7.54387962e-04 7.93707437e-01] [ 6.30579165e-03 5.57198509e-05 9.99980117e-01 2.13374285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.711858064 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:11.95, Y:0.80, Z:0.02 [[ 9.93821977e-01 -1.10809189e-01 -6.26106214e-03 1.19540237e+01] [ 1.10806651e-01 9.93841698e-01 -7.51813838e-04 7.96975799e-01] [ 6.30581251e-03 5.34017851e-05 9.99980117e-01 2.08192876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741858064 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:11.98, Y:0.80, Z:0.02 [[ 9.93608632e-01 -1.12706222e-01 -6.26048554e-03 1.19823530e+01] [ 1.12703692e-01 9.93628354e-01 -7.56585005e-04 7.98632502e-01] [ 6.30586778e-03 4.61695569e-05 9.99980117e-01 2.07557775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.771858064 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:12.01, Y:0.80, Z:0.02 [[ 9.93403195e-01 -1.14502839e-01 -6.26041879e-03 1.20106219e+01] [ 1.14500341e-01 9.93422920e-01 -7.57136909e-04 8.00303184e-01] [ 6.30593784e-03 3.53221384e-05 9.99980117e-01 2.17255183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:12.04, Y:0.80, Z:0.02 [[ 9.93133801e-01 -1.16816369e-01 -6.26020630e-03 1.20387599e+01] [ 1.16813906e-01 9.93153531e-01 -7.58889814e-04 8.02414016e-01] [ 6.30599674e-03 2.23999744e-05 9.99980117e-01 2.20637308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.831858064 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:12.07, Y:0.80, Z:0.02 [[ 9.92752184e-01 -1.20016303e-01 -6.25999318e-03 1.20655097e+01] [ 1.20013893e-01 9.92771921e-01 -7.60643716e-04 8.03419568e-01] [ 6.30603510e-03 3.84455885e-06 9.99980117e-01 2.24377587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.861858064 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:12.09, Y:0.81, Z:0.02 [[ 9.92595507e-01 -1.21305290e-01 -6.25984819e-03 1.20922227e+01] [ 1.21302897e-01 9.92615246e-01 -7.61835119e-04 8.06059920e-01] [ 6.30603538e-03 -3.14360593e-06 9.99980117e-01 2.26444998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.891858064 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:12.12, Y:0.81, Z:0.02 [[ 9.92429103e-01 -1.22659249e-01 -6.25975705e-03 1.21206559e+01] [ 1.22656879e-01 9.92448844e-01 -7.62583234e-04 8.09240311e-01] [ 6.30602653e-03 -1.09924658e-05 9.99980117e-01 2.11123529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.921858064 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:12.15, Y:0.81, Z:0.02 [[ 9.92333965e-01 -1.23426574e-01 -6.25956052e-03 1.21491044e+01] [ 1.23424209e-01 9.92353707e-01 -7.64192985e-04 8.13059057e-01] [ 6.30601981e-03 -1.42466519e-05 9.99980117e-01 2.01229760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.951858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:12.18, Y:0.82, Z:0.02 [[ 9.92276053e-01 -1.23891302e-01 -6.25937439e-03 1.21757293e+01] [ 1.23888937e-01 9.92295795e-01 -7.65714509e-04 8.15997493e-01] [ 6.30601626e-03 -1.56670658e-05 9.99980117e-01 1.89418770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.981858063999999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:12.20, Y:0.82, Z:0.02 [[ 9.92227725e-01 -1.24277768e-01 -6.25922960e-03 1.22039194e+01] [ 1.24275403e-01 9.92247467e-01 -7.66896250e-04 8.17326884e-01] [ 6.30601287e-03 -1.69325602e-05 9.99980117e-01 2.08542524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.011858064 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:12.23, Y:0.82, Z:0.02 [[ 9.92172305e-01 -1.24719453e-01 -6.25902257e-03 1.22325338e+01] [ 1.24717086e-01 9.92192047e-01 -7.68582215e-04 8.20577941e-01] [ 6.30600957e-03 -1.80410716e-05 9.99980117e-01 2.28688551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041858064 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:12.26, Y:0.82, Z:0.02 [[ 9.92117677e-01 -1.25153276e-01 -6.25883413e-03 1.22613535e+01] [ 1.25150908e-01 9.92137418e-01 -7.70113765e-04 8.24541988e-01] [ 6.30600579e-03 -1.92552964e-05 9.99980117e-01 2.39213313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.071858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:12.29, Y:0.83, Z:0.02 [[ 9.92078077e-01 -1.25466800e-01 -6.25864622e-03 1.22902566e+01] [ 1.25464429e-01 9.92097819e-01 -7.71637804e-04 8.28396710e-01] [ 6.30600419e-03 -1.97125249e-05 9.99980117e-01 2.49798031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.101858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:12.32, Y:0.83, Z:0.03 [[ 9.92043259e-01 -1.25741813e-01 -6.25845841e-03 1.23186272e+01] [ 1.25739437e-01 9.92063000e-01 -7.73158091e-04 8.31975887e-01] [ 6.30600333e-03 -1.99287669e-05 9.99980117e-01 2.51595043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.131858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:12.35, Y:0.84, Z:0.03 [[ 9.92007671e-01 -1.26022278e-01 -6.25824360e-03 1.23462130e+01] [ 1.26019897e-01 9.92027411e-01 -7.74892935e-04 8.35708145e-01] [ 6.30600297e-03 -1.99634782e-05 9.99980117e-01 2.69789025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:12.37, Y:0.84, Z:0.03 [[ 9.92016413e-01 -1.25953448e-01 -6.25814349e-03 1.23741469e+01] [ 1.25951061e-01 9.92036153e-01 -7.75700618e-04 8.39453889e-01] [ 6.30600676e-03 -1.87120648e-05 9.99980117e-01 2.75981882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.191858064 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:12.40, Y:0.84, Z:0.03 [[ 9.92012664e-01 -1.25982988e-01 -6.25793024e-03 1.24019899e+01] [ 1.25980590e-01 9.92032402e-01 -7.77417198e-04 8.43643532e-01] [ 6.30601091e-03 -1.71700398e-05 9.99980117e-01 2.75115876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.221858064 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:12.43, Y:0.85, Z:0.03 [[ 9.92310131e-01 -1.23618144e-01 -6.25771786e-03 1.24290114e+01] [ 1.23615689e-01 9.92329862e-01 -7.79122959e-04 8.47273720e-01] [ 6.30603404e-03 -4.20500412e-07 9.99980117e-01 2.69237848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.251858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:12.46, Y:0.85, Z:0.03 [[ 9.92422182e-01 -1.22715396e-01 -6.25659680e-03 1.24573819e+01] [ 1.22712866e-01 9.92441903e-01 -7.88112110e-04 8.51080616e-01] [ 6.30602233e-03 1.43750168e-05 9.99980117e-01 2.70744072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:12.49, Y:0.86, Z:0.03 [[ 9.92565934e-01 -1.21547159e-01 -6.25741260e-03 1.24851561e+01] [ 1.21544647e-01 9.92585658e-01 -7.81580751e-04 8.55207406e-01] [ 6.30601692e-03 1.52154234e-05 9.99980117e-01 2.70553834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.311858063999999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:12.51, Y:0.86, Z:0.03 [[ 9.92937448e-01 -1.18473927e-01 -6.25719848e-03 1.25132078e+01] [ 1.18471343e-01 9.92957163e-01 -7.83291231e-04 8.61413462e-01] [ 6.30592964e-03 3.64604885e-05 9.99980117e-01 2.53909734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341858064 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:12.54, Y:0.87, Z:0.02 [[ 9.93069906e-01 -1.17358477e-01 -6.25699026e-03 1.25397057e+01] [ 1.17355861e-01 9.93089616e-01 -7.84950974e-04 8.65652797e-01] [ 6.30587271e-03 4.52167101e-05 9.99980117e-01 2.41218767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.371858064 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:12.57, Y:0.87, Z:0.02 [[ 9.93194454e-01 -1.16299738e-01 -6.25683900e-03 1.25680212e+01] [ 1.16297093e-01 9.93214160e-01 -7.86154825e-04 8.68563821e-01] [ 6.30581069e-03 5.31524277e-05 9.99980117e-01 2.48219855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401858063999999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:12.60, Y:0.87, Z:0.03 [[ 9.93265362e-01 -1.15692594e-01 -6.25661538e-03 1.25960357e+01] [ 1.15689926e-01 9.93285065e-01 -7.87930466e-04 8.70728544e-01] [ 6.30576034e-03 5.87966677e-05 9.99980117e-01 2.58922143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.431858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:12.62, Y:0.87, Z:0.03 [[ 9.93357103e-01 -1.14902238e-01 -6.25639113e-03 1.26233079e+01] [ 1.14899543e-01 9.93376802e-01 -7.89707126e-04 8.72951489e-01] [ 6.30569293e-03 6.56047022e-05 9.99980117e-01 2.62701172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.461858064 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:12.65, Y:0.88, Z:0.03 [[ 9.93283092e-01 -1.15540288e-01 -6.25629399e-03 1.26517198e+01] [ 1.15537601e-01 9.93302793e-01 -7.90475885e-04 8.77277736e-01] [ 6.30572611e-03 6.23291308e-05 9.99980117e-01 2.68479461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.491858064 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:12.68, Y:0.88, Z:0.03 [[ 9.93237849e-01 -1.15928581e-01 -6.25610425e-03 1.26798638e+01] [ 1.15925892e-01 9.93257550e-01 -7.91974744e-04 8.80911110e-01] [ 6.30573529e-03 6.13748280e-05 9.99980117e-01 2.77499217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.521858064 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:12.71, Y:0.88, Z:0.03 [[ 9.93118474e-01 -1.16946825e-01 -6.25587893e-03 1.27078827e+01] [ 1.16944145e-01 9.93138176e-01 -7.93750616e-04 8.83726093e-01] [ 6.30577880e-03 5.66999905e-05 9.99980117e-01 2.92487447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.551858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:12.74, Y:0.89, Z:0.03 [[ 9.93017619e-01 -1.17800142e-01 -6.25580921e-03 1.27355762e+01] [ 1.17797475e-01 9.93037323e-01 -7.94299666e-04 8.86793087e-01] [ 6.30582064e-03 5.18350313e-05 9.99980117e-01 3.01687789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.581858064 meters Centerline goodness : 0.996693 Centerline is valid? [True, True] Translation: X:12.76, Y:0.89, Z:0.03 [[ 9.93074577e-01 -1.17319016e-01 -6.25558685e-03 1.27616214e+01] [ 1.17316329e-01 9.93094278e-01 -7.96047034e-04 8.89381030e-01] [ 6.30577897e-03 5.66515836e-05 9.99980117e-01 2.94318863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.611858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:12.79, Y:0.89, Z:0.03 [[ 9.92878636e-01 -1.18966025e-01 -6.25294718e-03 1.27908780e+01] [ 1.18963240e-01 9.92898323e-01 -8.16756599e-04 8.93030739e-01] [ 6.30570706e-03 6.70693200e-05 9.99980117e-01 3.16379805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.641858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:12.82, Y:0.90, Z:0.03 [[ 9.92844053e-01 -1.19254176e-01 -6.25530855e-03 1.28174898e+01] [ 1.19251513e-01 9.92863757e-01 -7.98252302e-04 8.96877786e-01] [ 6.30586407e-03 4.65850380e-05 9.99980117e-01 3.15284445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.671858064 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:12.85, Y:0.90, Z:0.03 [[ 9.92779173e-01 -1.19793098e-01 -6.25521146e-03 1.28455800e+01] [ 1.19790441e-01 9.92798878e-01 -7.99012382e-04 9.01093580e-01] [ 6.30588309e-03 4.39283094e-05 9.99980117e-01 3.12800115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.701858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:12.87, Y:0.91, Z:0.03 [[ 9.92549763e-01 -1.21679260e-01 -6.25498705e-03 1.28735973e+01] [ 1.21676629e-01 9.92569472e-01 -8.00765311e-04 9.05129497e-01] [ 6.30594573e-03 3.37136782e-05 9.99980117e-01 2.94358122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.731858063999999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:12.90, Y:0.91, Z:0.03 [[ 9.92385758e-01 -1.23009693e-01 -6.25476384e-03 1.29012676e+01] [ 1.23007078e-01 9.92405469e-01 -8.02505062e-04 9.08320065e-01] [ 6.30597774e-03 2.70143701e-05 9.99980117e-01 2.79428199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.761858064 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:12.93, Y:0.91, Z:0.03 [[ 9.92180946e-01 -1.24650938e-01 -6.25418897e-03 1.29287826e+01] [ 1.24648327e-01 9.92200657e-01 -8.06976308e-04 9.11460689e-01] [ 6.30600075e-03 2.10923234e-05 9.99980117e-01 2.90268408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.791858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:12.96, Y:0.91, Z:0.03 [[ 9.91750345e-01 -1.28031772e-01 -6.25443820e-03 1.29564608e+01] [ 1.28029241e-01 9.91770067e-01 -8.05039951e-04 9.14038275e-01] [ 6.30603529e-03 -2.35232877e-06 9.99980117e-01 2.83664502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.821858064 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:12.99, Y:0.92, Z:0.03 [[ 9.91496206e-01 -1.29985227e-01 -6.25421515e-03 1.29854434e+01] [ 1.29982724e-01 9.91515931e-01 -8.06769101e-04 9.16661448e-01] [ 6.30602202e-03 -1.30314185e-05 9.99980117e-01 2.71410321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.851858064 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:13.01, Y:0.92, Z:0.03 [[ 9.91215142e-01 -1.32111363e-01 -6.25535872e-03 1.30120408e+01] [ 1.32108958e-01 9.91234880e-01 -7.97910111e-04 9.19581001e-01] [ 6.30594274e-03 -3.54883376e-05 9.99980117e-01 2.82642299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:13.04, Y:0.92, Z:0.03 [[ 9.91006622e-01 -1.33666610e-01 -6.25395902e-03 1.30387989e+01] [ 1.33664168e-01 9.91026355e-01 -8.08734058e-04 9.22315072e-01] [ 6.30593895e-03 -3.44694185e-05 9.99980117e-01 2.80135654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.911858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:13.07, Y:0.93, Z:0.03 [[ 9.90791831e-01 -1.35249536e-01 -6.25386182e-03 1.30668578e+01] [ 1.35247121e-01 9.90811567e-01 -8.09485012e-04 9.25100320e-01] [ 6.30588110e-03 -4.37856679e-05 9.99980117e-01 2.82124955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.941858064 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:13.10, Y:0.93, Z:0.03 [[ 9.90757242e-01 -1.35502694e-01 -6.25362981e-03 1.30954688e+01] [ 1.35500273e-01 9.90776977e-01 -8.11273458e-04 9.28393602e-01] [ 6.30588217e-03 -4.35934917e-05 9.99980117e-01 2.75165408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.971858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:13.12, Y:0.93, Z:0.03 [[ 9.90887592e-01 -1.34546118e-01 -6.25476725e-03 1.31217335e+01] [ 1.34543732e-01 9.90907332e-01 -8.02519002e-04 9.31740136e-01] [ 6.30587054e-03 -4.63336092e-05 9.99980117e-01 2.86072741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.001858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:13.15, Y:0.94, Z:0.03 [[ 9.91110572e-01 -1.32893679e-01 -6.25332816e-03 1.31495946e+01] [ 1.32891191e-01 9.91130299e-01 -8.13580129e-04 9.35322885e-01] [ 6.30598266e-03 -2.46643574e-05 9.99980117e-01 2.80984988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.031858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:13.18, Y:0.94, Z:0.03 [[ 9.91187576e-01 -1.32318122e-01 -6.25325718e-03 1.31778616e+01] [ 1.32315619e-01 9.91207301e-01 -8.14125299e-04 9.38376583e-01] [ 6.30599771e-03 -2.04527138e-05 9.99980117e-01 2.91851054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.061858063999999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:13.21, Y:0.94, Z:0.03 [[ 9.91208764e-01 -1.32159320e-01 -6.25303210e-03 1.32053361e+01] [ 1.32156803e-01 9.91228487e-01 -8.15850402e-04 9.41793348e-01] [ 6.30600579e-03 -1.77026632e-05 9.99980117e-01 2.97545691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.091858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:13.23, Y:0.95, Z:0.03 [[ 9.90650473e-01 -1.36281113e-01 -6.25280444e-03 1.32262985e+01] [ 1.36278667e-01 9.90670206e-01 -8.17591497e-04 9.49331415e-01] [ 6.30588934e-03 -4.21764524e-05 9.99980117e-01 2.66455953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.121858064 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:13.26, Y:0.95, Z:0.03 [[ 9.91371302e-01 -1.30935240e-01 -6.23729932e-03 1.32621086e+01] [ 1.30931945e-01 9.91390917e-01 -9.35469101e-04 9.48369666e-01] [ 6.30608776e-03 1.10735488e-04 9.99980110e-01 3.10564652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.151858063999999 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:13.29, Y:0.95, Z:0.03 [[ 9.91369083e-01 -1.30951318e-01 -6.25253302e-03 1.32901922e+01] [ 1.30948756e-01 9.91388800e-01 -8.19198148e-04 9.51755360e-01] [ 6.30596628e-03 -6.63370548e-06 9.99980117e-01 3.18343542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.181858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:13.32, Y:0.96, Z:0.03 [[ 9.91413358e-01 -1.30615701e-01 -6.25230983e-03 1.33168358e+01] [ 1.30613122e-01 9.91433073e-01 -8.20898010e-04 9.55045737e-01] [ 6.30596892e-03 -2.78445361e-06 9.99980117e-01 3.19888811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.211858064 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:13.34, Y:0.96, Z:0.03 [[ 9.91703061e-01 -1.28397619e-01 -6.25221315e-03 1.33418369e+01] [ 1.28394991e-01 9.91722769e-01 -8.21633708e-04 9.58288604e-01] [ 6.30595795e-03 1.20638120e-05 9.99980117e-01 3.12566951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.241858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:13.36, Y:0.97, Z:0.03 [[ 9.91115266e-01 -1.32858909e-01 -6.24826742e-03 1.33646635e+01] [ 1.32856179e-01 9.91134961e-01 -8.51772219e-04 9.65200710e-01] [ 6.30604181e-03 1.40835135e-05 9.99980117e-01 2.72070287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.271858064 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:13.40, Y:0.97, Z:0.03 [[ 9.91698064e-01 -1.28436897e-01 -6.23811824e-03 1.33986251e+01] [ 1.28433592e-01 9.91717676e-01 -9.29140448e-04 9.65806854e-01] [ 6.30578804e-03 1.20242847e-04 9.99980111e-01 2.87927506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301858064 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:13.42, Y:0.97, Z:0.02 [[ 9.91120234e-01 -1.32821796e-01 -6.24913806e-03 1.34233471e+01] [ 1.32819109e-01 9.91139935e-01 -8.44874259e-04 9.72468022e-01] [ 6.30598800e-03 7.36702340e-06 9.99980117e-01 2.48174078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.331858064 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:13.46, Y:0.97, Z:0.03 [[ 9.91381095e-01 -1.30860819e-01 -6.24269066e-03 1.34563363e+01] [ 1.30857781e-01 9.91400747e-01 -8.94456521e-04 9.71036839e-01] [ 6.30605749e-03 6.98426377e-05 9.99980114e-01 2.81065884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361858064 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:13.48, Y:0.97, Z:0.03 [[ 9.91211542e-01 -1.32138457e-01 -6.25354760e-03 1.34845433e+01] [ 1.32135972e-01 9.91231269e-01 -8.10709769e-04 9.74292203e-01] [ 6.30583786e-03 -2.27337101e-05 9.99980118e-01 2.57524447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.391858064 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:13.51, Y:0.98, Z:0.03 [[ 9.90924967e-01 -1.34270718e-01 -6.25170009e-03 1.35120620e+01] [ 1.34268186e-01 9.90944688e-01 -8.24925137e-04 9.77667097e-01] [ 6.30585228e-03 -2.19655130e-05 9.99980118e-01 2.62282207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421858064 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:13.54, Y:0.98, Z:0.03 [[ 9.90528413e-01 -1.37165536e-01 -6.25127817e-03 1.35404098e+01] [ 1.37163041e-01 9.90548138e-01 -8.28162697e-04 9.81239071e-01] [ 6.30578733e-03 -3.71256441e-05 9.99980118e-01 2.62599636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.451858064 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:13.57, Y:0.98, Z:0.03 [[ 9.89852367e-01 -1.41961990e-01 -6.25186388e-03 1.35688894e+01] [ 1.41959619e-01 9.89872107e-01 -8.23672246e-04 9.84825537e-01] [ 6.30547582e-03 -7.21982905e-05 9.99980118e-01 2.94443332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.481858063999999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:13.60, Y:0.99, Z:0.03 [[ 9.89617938e-01 -1.43587047e-01 -6.25275664e-03 1.35969549e+01] [ 1.43584752e-01 9.89637687e-01 -8.16838326e-04 9.89070701e-01] [ 6.30525102e-03 -8.94426485e-05 9.99980118e-01 2.84821859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.511858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:13.62, Y:0.99, Z:0.03 [[ 9.89259854e-01 -1.46033806e-01 -6.25046043e-03 1.36248924e+01] [ 1.46031448e-01 9.89279596e-01 -8.34376725e-04 9.93715733e-01] [ 6.30530018e-03 -8.73483906e-05 9.99980118e-01 2.90898808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541858064 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:13.65, Y:1.00, Z:0.03 [[ 9.89019352e-01 -1.47653746e-01 -6.25242456e-03 1.36524451e+01] [ 1.47651515e-01 9.89039109e-01 -8.19389299e-04 9.97960592e-01] [ 6.30487831e-03 -1.12788086e-04 9.99980118e-01 2.72125987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.571858064 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:13.68, Y:1.00, Z:0.03 [[ 9.88827597e-01 -1.48932613e-01 -6.24979107e-03 1.36806649e+01] [ 1.48930282e-01 9.88847342e-01 -8.39451366e-04 1.00250929e+00] [ 6.30511098e-03 -1.00710467e-04 9.99980118e-01 2.69225201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601858064 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:13.71, Y:1.01, Z:0.03 [[ 9.88707570e-01 -1.49727277e-01 -6.25164444e-03 1.37084873e+01] [ 1.49725050e-01 9.88727328e-01 -8.25342002e-04 1.00739185e+00] [ 6.30474791e-03 -1.20005890e-04 9.99980118e-01 2.79430270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.631858064 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:13.73, Y:1.01, Z:0.03 [[ 9.88452449e-01 -1.51402345e-01 -6.25191747e-03 1.37346369e+01] [ 1.51400165e-01 9.88472211e-01 -8.23264952e-04 1.01296308e+00] [ 6.30449093e-03 -1.32783075e-04 9.99980118e-01 2.84505349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.661858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:13.76, Y:1.02, Z:0.03 [[ 9.88238033e-01 -1.52795656e-01 -6.25125753e-03 1.37635418e+01] [ 1.52793472e-01 9.88257795e-01 -8.28275833e-04 1.01783042e+00] [ 6.30441094e-03 -1.36617662e-04 9.99980118e-01 2.87143759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.691858064 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:13.79, Y:1.02, Z:0.03 [[ 9.88196771e-01 -1.53062262e-01 -6.25178865e-03 1.37902627e+01] [ 1.53060109e-01 9.88216537e-01 -8.24247375e-04 1.02218160e+00] [ 6.30428210e-03 -1.42380859e-04 9.99980118e-01 2.86526635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.721858064 meters Centerline goodness : 0.996548 Centerline is valid? [True, True] Translation: X:13.82, Y:1.03, Z:0.03 [[ 9.87815522e-01 -1.55503843e-01 -6.24903053e-03 1.38203581e+01] [ 1.55501607e-01 9.87835278e-01 -8.45052505e-04 1.02799620e+00] [ 6.30442173e-03 -1.36978308e-04 9.99980118e-01 2.90981966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.751858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:13.85, Y:1.03, Z:0.03 [[ 9.87809529e-01 -1.55541739e-01 -6.25306736e-03 1.38479217e+01] [ 1.55539696e-01 9.87829307e-01 -8.14631055e-04 1.03408601e+00] [ 6.30367233e-03 -1.67899881e-04 9.99980118e-01 3.32993984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.781858064 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:13.87, Y:1.04, Z:0.03 [[ 9.87883820e-01 -1.55069295e-01 -6.25079867e-03 1.38742895e+01] [ 1.55067135e-01 9.87903584e-01 -8.31682208e-04 1.03917177e+00] [ 6.30415479e-03 -1.47688048e-04 9.99980118e-01 3.34034256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.811858063999999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:13.90, Y:1.04, Z:0.03 [[ 9.88005032e-01 -1.54295124e-01 -6.25069720e-03 1.39017101e+01] [ 1.54292944e-01 9.88024794e-01 -8.32444147e-04 1.04472520e+00] [ 6.30428589e-03 -1.41979465e-04 9.99980118e-01 3.32428229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:13.93, Y:1.05, Z:0.03 [[ 9.88270463e-01 -1.52585815e-01 -6.24984489e-03 1.39287669e+01] [ 1.52583560e-01 9.88290217e-01 -8.38833655e-04 1.05192348e+00] [ 6.30465468e-03 -1.24629056e-04 9.99980118e-01 3.26317427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.871858064 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:13.96, Y:1.06, Z:0.03 [[ 9.88376679e-01 -1.51896255e-01 -6.25038101e-03 1.39563215e+01] [ 1.51894012e-01 9.88396435e-01 -8.34819622e-04 1.05743108e+00] [ 6.30466028e-03 -1.24279202e-04 9.99980118e-01 3.25712624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901858063999999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:13.98, Y:1.06, Z:0.03 [[ 9.88699319e-01 -1.49781814e-01 -6.25014894e-03 1.39813563e+01] [ 1.49779518e-01 9.88719068e-01 -8.36553484e-04 1.06256501e+00] [ 6.30494194e-03 -1.09044434e-04 9.99980118e-01 3.35580367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.931858064 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:14.01, Y:1.07, Z:0.03 [[ 9.88692559e-01 -1.49826607e-01 -6.24589643e-03 1.40110997e+01] [ 1.49824111e-01 9.88712285e-01 -8.68295380e-04 1.06831543e+00] [ 6.30548828e-03 -7.73087005e-05 9.99980117e-01 3.40060406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961858064 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:14.04, Y:1.08, Z:0.04 [[ 9.89163585e-01 -1.46684494e-01 -6.24995165e-03 1.40374443e+01] [ 1.46682126e-01 9.89183326e-01 -8.38052813e-04 1.07559633e+00] [ 6.30527731e-03 -8.77848698e-05 9.99980118e-01 3.54913468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.991858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:14.07, Y:1.08, Z:0.04 [[ 9.89377575e-01 -1.45234131e-01 -6.24984721e-03 1.40651498e+01] [ 1.45231729e-01 9.89397312e-01 -8.38830893e-04 1.08189688e+00] [ 6.30540891e-03 -7.77556427e-05 9.99980118e-01 3.59551496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:14.09, Y:1.09, Z:0.04 [[ 9.89352100e-01 -1.45407581e-01 -6.24961095e-03 1.40934424e+01] [ 1.45405171e-01 9.89371836e-01 -8.40587446e-04 1.08578325e+00] [ 6.30541685e-03 -7.70887966e-05 9.99980118e-01 3.61345472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.051858064 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:14.12, Y:1.09, Z:0.04 [[ 9.89636498e-01 -1.43459213e-01 -6.24946340e-03 1.41207448e+01] [ 1.43456758e-01 9.89656228e-01 -8.41683019e-04 1.09207029e+00] [ 6.30556756e-03 -6.35675230e-05 9.99980118e-01 3.55649445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081858064 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:14.15, Y:1.10, Z:0.03 [[ 9.89892523e-01 -1.41681830e-01 -6.24922453e-03 1.41480868e+01] [ 1.41679328e-01 9.89912247e-01 -8.43452845e-04 1.09849080e+00] [ 6.30568584e-03 -5.04582693e-05 9.99980118e-01 3.47890646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.111858064 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:14.17, Y:1.11, Z:0.03 [[ 9.90215016e-01 -1.39410089e-01 -6.24898498e-03 1.41741803e+01] [ 1.39407531e-01 9.90234733e-01 -8.45223920e-04 1.10502842e+00] [ 6.30579471e-03 -3.42021499e-05 9.99980118e-01 3.19704537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.141858064 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:14.20, Y:1.11, Z:0.03 [[ 9.90425747e-01 -1.37905053e-01 -6.24782178e-03 1.42027910e+01] [ 1.37902411e-01 9.90445453e-01 -8.53808285e-04 1.10935768e+00] [ 6.30587116e-03 -1.59559795e-05 9.99980118e-01 3.47495666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.171858064 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:14.23, Y:1.12, Z:0.03 [[ 9.90171474e-01 -1.39719035e-01 -6.24842200e-03 1.42306169e+01] [ 1.39716457e-01 9.90191189e-01 -8.49381948e-04 1.11587305e+00] [ 6.30580723e-03 -3.19736085e-05 9.99980118e-01 3.25891918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201858064 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:14.26, Y:1.12, Z:0.03 [[ 9.90229317e-01 -1.39308526e-01 -6.24781206e-03 1.42569198e+01] [ 1.39305912e-01 9.90249026e-01 -8.53872501e-04 1.12411666e+00] [ 6.30584153e-03 -2.48275708e-05 9.99980118e-01 3.06893922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.231858064 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:14.28, Y:1.13, Z:0.03 [[ 9.89954639e-01 -1.41247336e-01 -6.24523875e-03 1.42821089e+01] [ 1.41244641e-01 9.89974338e-01 -8.72743169e-04 1.13149711e+00] [ 6.30589875e-03 -1.81303590e-05 9.99980117e-01 2.84317115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:14.31, Y:1.14, Z:0.03 [[ 9.90006696e-01 -1.40882241e-01 -6.23982853e-03 1.43126644e+01] [ 1.40879289e-01 9.90026360e-01 -9.12308361e-04 1.13526584e+00] [ 6.30612278e-03 2.41287804e-05 9.99980116e-01 2.80878663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.291858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:14.34, Y:1.14, Z:0.03 [[ 9.90385540e-01 -1.38193647e-01 -6.24482394e-03 1.43405401e+01] [ 1.38190872e-01 9.90405228e-01 -8.75862872e-04 1.13783175e+00] [ 6.30594496e-03 4.46426041e-06 9.99980117e-01 2.93461160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321858064 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:14.37, Y:1.14, Z:0.03 [[ 9.90236201e-01 -1.39259646e-01 -6.24633377e-03 1.43712738e+01] [ 1.39256961e-01 9.90255902e-01 -8.64849268e-04 1.14258441e+00] [ 6.30590748e-03 -1.34404032e-05 9.99980117e-01 3.11252258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.351858063999998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:14.40, Y:1.15, Z:0.03 [[ 9.90330831e-01 -1.38584873e-01 -6.25131528e-03 1.43968899e+01] [ 1.38582404e-01 9.90350560e-01 -8.28514706e-04 1.14678040e+00] [ 6.30581319e-03 -4.58186453e-05 9.99980117e-01 3.10978981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381858064 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:14.42, Y:1.15, Z:0.03 [[ 9.90438221e-01 -1.37815401e-01 -6.24863147e-03 1.44232657e+01] [ 1.37812793e-01 9.90457932e-01 -8.48047403e-04 1.15231689e+00] [ 6.30588060e-03 -2.12027976e-05 9.99980118e-01 3.24067489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.411858064 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:14.45, Y:1.16, Z:0.03 [[ 9.90378663e-01 -1.38242907e-01 -6.24524204e-03 1.44519794e+01] [ 1.38240152e-01 9.90398354e-01 -8.72667358e-04 1.15791979e+00] [ 6.30591751e-03 9.27918919e-07 9.99980118e-01 3.13163542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.441858063999998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:14.48, Y:1.16, Z:0.03 [[ 9.90391945e-01 -1.38147636e-01 -6.24705782e-03 1.44797803e+01] [ 1.38144963e-01 9.90411647e-01 -8.59487157e-04 1.16335372e+00] [ 6.30589495e-03 -1.17704138e-05 9.99980118e-01 3.18795976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.471858064 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:14.51, Y:1.17, Z:0.03 [[ 9.90116188e-01 -1.40110365e-01 -6.24662085e-03 1.45069406e+01] [ 1.40107711e-01 9.90135892e-01 -8.62652544e-04 1.17027811e+00] [ 6.30587007e-03 -2.10735008e-05 9.99980118e-01 2.92092602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501858064 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:14.54, Y:1.17, Z:0.03 [[ 9.90459422e-01 -1.37663120e-01 -6.24489268e-03 1.45362663e+01] [ 1.37660339e-01 9.90479109e-01 -8.75136931e-04 1.17220727e+00] [ 6.30590982e-03 7.11357611e-06 9.99980118e-01 3.32861117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.531858064 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:14.56, Y:1.18, Z:0.03 [[ 9.89470080e-01 -1.44602714e-01 -6.24633835e-03 1.45581477e+01] [ 1.44600136e-01 9.89489794e-01 -8.64693769e-04 1.18171020e+00] [ 6.30572512e-03 -4.76327657e-05 9.99980118e-01 2.91041191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561858064 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:14.59, Y:1.18, Z:0.03 [[ 9.90076259e-01 -1.40392950e-01 -6.23056499e-03 1.45922495e+01] [ 1.40389585e-01 9.90095860e-01 -9.76410515e-04 1.18206731e+00] [ 6.30593775e-03 9.20144365e-05 9.99980113e-01 3.35110472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.591858064 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:14.62, Y:1.19, Z:0.03 [[ 9.89435706e-01 -1.44837840e-01 -6.24371868e-03 1.46160924e+01] [ 1.44835151e-01 9.89455405e-01 -8.83044081e-04 1.19008437e+00] [ 6.30577939e-03 -3.05945953e-05 9.99980118e-01 2.82863755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621858064 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:14.65, Y:1.19, Z:0.03 [[ 9.90111851e-01 -1.40141625e-01 -6.23279866e-03 1.46502284e+01] [ 1.40138353e-01 9.90131466e-01 -9.60729163e-04 1.19062705e+00] [ 6.30592821e-03 7.77751904e-05 9.99980114e-01 3.25211623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.651858064 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:14.68, Y:1.19, Z:0.03 [[ 9.89985752e-01 -1.41029073e-01 -6.24587428e-03 1.46793984e+01] [ 1.41026407e-01 9.90005455e-01 -8.67370067e-04 1.19497025e+00] [ 6.30577400e-03 -2.21492003e-05 9.99980118e-01 3.18379158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681858064 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:14.70, Y:1.20, Z:0.03 [[ 9.89212888e-01 -1.46351750e-01 -6.24713721e-03 1.47013233e+01] [ 1.46349247e-01 9.89232612e-01 -8.58377723e-04 1.20327659e+00] [ 6.30549694e-03 -6.51455185e-05 9.99980118e-01 2.86983307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.711858064 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:14.73, Y:1.20, Z:0.03 [[ 9.89697020e-01 -1.43041869e-01 -6.23157970e-03 1.47344494e+01] [ 1.43038605e-01 9.89716636e-01 -9.68594562e-04 1.20171826e+00] [ 6.30604767e-03 6.72586840e-05 9.99980114e-01 3.28236404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741858064 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:14.75, Y:1.21, Z:0.03 [[ 9.88489759e-01 -1.51158899e-01 -6.24368920e-03 1.47498623e+01] [ 1.51156340e-01 9.88509475e-01 -8.82573689e-04 1.21263809e+00] [ 6.30535480e-03 -7.13581524e-05 9.99980119e-01 2.80540030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.771858064 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:14.79, Y:1.21, Z:0.04 [[ 9.89310029e-01 -1.45694968e-01 -6.21626061e-03 1.47923476e+01] [ 1.45691056e-01 9.89329546e-01 -1.08003774e-03 1.20669155e+00] [ 6.30728635e-03 1.62838593e-04 9.99980096e-01 3.51752987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801858064 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:14.82, Y:1.21, Z:0.03 [[ 9.88903196e-01 -1.48430052e-01 -6.24401851e-03 1.48210970e+01] [ 1.48427462e-01 9.88922907e-01 -8.78672853e-04 1.21094975e+00] [ 6.30527439e-03 -5.78614286e-05 9.99980120e-01 3.46426047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.831858064 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:14.84, Y:1.22, Z:0.03 [[ 9.87557684e-01 -1.57133101e-01 -6.24574479e-03 1.48433783e+01] [ 1.57130764e-01 9.87577426e-01 -8.66154461e-04 1.22062405e+00] [ 6.30425811e-03 -1.26021159e-04 9.99980120e-01 3.43966699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:14.88, Y:1.22, Z:0.04 [[ 9.88304059e-01 -1.52368583e-01 -6.23711291e-03 1.48770699e+01] [ 1.52365756e-01 9.88323739e-01 -9.28808629e-04 1.21769608e+00] [ 6.30580801e-03 -3.23770843e-05 9.99980118e-01 3.73760954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.891858064 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:14.90, Y:1.22, Z:0.04 [[ 9.87753530e-01 -1.55897218e-01 -6.24675627e-03 1.49036052e+01] [ 1.55894904e-01 9.87773274e-01 -8.58652696e-04 1.22147468e+00] [ 6.30424046e-03 -1.25700235e-04 9.99980120e-01 3.83964267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921858064 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:14.93, Y:1.23, Z:0.04 [[ 9.87525498e-01 -1.57335216e-01 -6.24665080e-03 1.49318415e+01] [ 1.57332926e-01 9.87545245e-01 -8.59419242e-04 1.22588976e+00] [ 6.30406721e-03 -1.34105434e-04 9.99980120e-01 3.81207058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.951858064 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:14.96, Y:1.23, Z:0.04 [[ 9.87377698e-01 -1.58260115e-01 -6.24642458e-03 1.49581787e+01] [ 1.58257833e-01 9.87397446e-01 -8.61060371e-04 1.23032958e+00] [ 6.30397519e-03 -1.38353810e-04 9.99980120e-01 3.81256873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981858064 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:14.99, Y:1.24, Z:0.04 [[ 9.87002665e-01 -1.60582448e-01 -6.24632645e-03 1.49857507e+01] [ 1.60580208e-01 9.87022418e-01 -8.61771627e-04 1.23606866e+00] [ 6.30364963e-03 -1.52465506e-04 9.99980120e-01 3.55986501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.011858064 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:15.01, Y:1.24, Z:0.04 [[ 9.87142502e-01 -1.59720632e-01 -6.24498691e-03 1.50142995e+01] [ 1.59718313e-01 9.87162247e-01 -8.71468766e-04 1.23929257e+00] [ 6.30400685e-03 -1.37174916e-04 9.99980120e-01 3.78438092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041858064 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:15.04, Y:1.25, Z:0.04 [[ 9.86944128e-01 -1.60941722e-01 -6.24910427e-03 1.50393084e+01] [ 1.60939616e-01 9.86963896e-01 -8.41629794e-04 1.24543490e+00] [ 6.30309364e-03 -1.75086862e-04 9.99980120e-01 3.62404310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.071858064 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:15.07, Y:1.25, Z:0.04 [[ 9.87420799e-01 -1.57991013e-01 -6.24545218e-03 1.50667382e+01] [ 1.57988682e-01 9.87440541e-01 -8.68014309e-04 1.24953432e+00] [ 6.30415114e-03 -1.29615376e-04 9.99980120e-01 3.91889025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101858063999998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:15.09, Y:1.25, Z:0.04 [[ 9.87546418e-01 -1.57203888e-01 -6.24580605e-03 1.50939527e+01] [ 1.57201557e-01 9.87566161e-01 -8.65460559e-04 1.25362195e+00] [ 6.30420046e-03 -1.27167958e-04 9.99980120e-01 3.96486486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.131858064 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:15.12, Y:1.26, Z:0.04 [[ 9.87645414e-01 -1.56580739e-01 -6.24569971e-03 1.51219794e+01] [ 1.56578391e-01 9.87665154e-01 -8.66227305e-04 1.25843104e+00] [ 6.30429448e-03 -1.22416184e-04 9.99980120e-01 3.99249847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161858064 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:15.15, Y:1.26, Z:0.04 [[ 9.87773285e-01 -1.55772051e-01 -6.24545994e-03 1.51493800e+01] [ 1.55769675e-01 9.87793022e-01 -8.67952592e-04 1.26325892e+00] [ 6.30442450e-03 -1.15512884e-04 9.99980120e-01 4.07435758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.191858063999998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:15.18, Y:1.27, Z:0.04 [[ 9.87969220e-01 -1.54524489e-01 -6.24521635e-03 1.51776299e+01] [ 1.54522078e-01 9.87988953e-01 -8.69701729e-04 1.26923708e+00] [ 6.30459498e-03 -1.05785271e-04 9.99980120e-01 4.08297829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.221858064 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:15.21, Y:1.27, Z:0.04 [[ 9.88206439e-01 -1.52999985e-01 -6.24812916e-03 1.52052391e+01] [ 1.52997675e-01 9.88226184e-01 -8.48799895e-04 1.27452395e+00] [ 6.30443121e-03 -1.17159716e-04 9.99980120e-01 4.09711190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.251858064 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:15.23, Y:1.28, Z:0.04 [[ 9.88414091e-01 -1.51652768e-01 -6.24681350e-03 1.52312128e+01] [ 1.51650372e-01 9.88433826e-01 -8.58230449e-04 1.27973927e+00] [ 6.30471479e-03 -9.90445218e-05 9.99980120e-01 4.03593126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281858064 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:15.25, Y:1.29, Z:0.03 [[ 9.87203890e-01 -1.59340773e-01 -6.24472660e-03 1.52472054e+01] [ 1.59338437e-01 9.87223632e-01 -8.73155717e-04 1.29418181e+00] [ 6.30407099e-03 -1.33042253e-04 9.99980120e-01 3.32698158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.311858064 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:15.29, Y:1.29, Z:0.04 [[ 9.89076622e-01 -1.47271001e-01 -6.21991313e-03 1.52896988e+01] [ 1.47267300e-01 9.89096172e-01 -1.05138648e-03 1.28819129e+00] [ 6.30693100e-03 1.23911976e-04 9.99980103e-01 4.06388606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:15.30, Y:1.31, Z:0.04 [[ 9.87517304e-01 -1.57386665e-01 -6.24594296e-03 1.53000419e+01] [ 1.57384353e-01 9.87537048e-01 -8.62996146e-04 1.30546689e+00] [ 6.30392416e-03 -1.30790064e-04 9.99980122e-01 3.56209766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.371858064 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:15.35, Y:1.30, Z:0.04 [[ 9.89567303e-01 -1.43937489e-01 -6.20900785e-03 1.53454741e+01] [ 1.43933242e-01 9.89586757e-01 -1.12780228e-03 1.29778703e+00] [ 6.30668497e-03 2.22353633e-04 9.99980088e-01 4.32698383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401858064 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:15.37, Y:1.30, Z:0.04 [[ 9.89703328e-01 -1.42997633e-01 -6.24502194e-03 1.53732780e+01] [ 1.42995010e-01 9.89723030e-01 -8.66823708e-04 1.30351083e+00] [ 6.30479578e-03 -3.51086671e-05 9.99980124e-01 4.34542523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.431858064 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:15.40, Y:1.31, Z:0.04 [[ 9.89810725e-01 -1.42252320e-01 -6.24556684e-03 1.53997154e+01] [ 1.42249707e-01 9.89830428e-01 -8.62879214e-04 1.30865037e+00] [ 6.30479867e-03 -3.43429507e-05 9.99980124e-01 4.40432362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461858064 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:15.43, Y:1.31, Z:0.05 [[ 9.89683089e-01 -1.43137737e-01 -6.24264219e-03 1.54284672e+01] [ 1.43135008e-01 9.89702778e-01 -8.84016577e-04 1.31372485e+00] [ 6.30489644e-03 -1.86443856e-05 9.99980124e-01 4.54531955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.491858064 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:15.46, Y:1.32, Z:0.04 [[ 9.89539646e-01 -1.44125977e-01 -6.24440754e-03 1.54570155e+01] [ 1.44123348e-01 9.89559347e-01 -8.71264669e-04 1.31812160e+00] [ 6.30478372e-03 -3.78139914e-05 9.99980124e-01 4.49053485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.521858064 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:15.49, Y:1.32, Z:0.04 [[ 9.89130981e-01 -1.46904397e-01 -6.24509945e-03 1.54860084e+01] [ 1.46901855e-01 9.89150694e-01 -8.66272614e-04 1.32230579e+00] [ 6.30460370e-03 -6.05596138e-05 9.99980124e-01 4.41276344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.551858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:15.51, Y:1.33, Z:0.04 [[ 9.88922043e-01 -1.48304381e-01 -6.24521459e-03 1.55141621e+01] [ 1.48301873e-01 9.88941760e-01 -8.65442330e-04 1.32661206e+00] [ 6.30450240e-03 -7.03220217e-05 9.99980124e-01 4.33148634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:15.54, Y:1.33, Z:0.04 [[ 9.88840561e-01 -1.48846720e-01 -6.24486421e-03 1.55405473e+01] [ 1.48844206e-01 9.88860278e-01 -8.67963282e-04 1.33071886e+00] [ 6.30449164e-03 -7.12345572e-05 9.99980124e-01 4.25280114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.611858064 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:15.57, Y:1.34, Z:0.04 [[ 9.88868807e-01 -1.48658955e-01 -6.24475980e-03 1.55675977e+01] [ 1.48656433e-01 9.88888523e-01 -8.68713823e-04 1.33677524e+00] [ 6.30451338e-03 -6.92797152e-05 9.99980124e-01 4.06968199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641858064 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:15.59, Y:1.34, Z:0.04 [[ 9.89020847e-01 -1.47644064e-01 -6.24451902e-03 1.55940910e+01] [ 1.47641511e-01 9.89040559e-01 -8.70441128e-04 1.34130967e+00] [ 6.30459805e-03 -6.10658030e-05 9.99980124e-01 4.02760936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.671858064 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:15.62, Y:1.35, Z:0.04 [[ 9.89341640e-01 -1.45478956e-01 -6.24441459e-03 1.56195299e+01] [ 1.45476355e-01 9.89361345e-01 -8.71189664e-04 1.34524659e+00] [ 6.30472218e-03 -4.65104644e-05 9.99980124e-01 4.20380074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701858064 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:15.66, Y:1.34, Z:0.04 [[ 9.90451238e-01 -1.37722152e-01 -6.24129111e-03 1.56568527e+01] [ 1.37719256e-01 9.90470902e-01 -8.93542547e-04 1.34414640e+00] [ 6.30487784e-03 2.54643546e-05 9.99980124e-01 4.20970084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.731858064 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:15.69, Y:1.35, Z:0.04 [[ 9.90752780e-01 -1.35535088e-01 -6.25855793e-03 1.56875405e+01] [ 1.35532925e-01 9.90772543e-01 -7.70505213e-04 1.34844657e+00] [ 6.30523785e-03 -8.48604786e-05 9.99980118e-01 4.37058220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761858064 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:15.71, Y:1.36, Z:0.04 [[ 9.90294957e-01 -1.38840405e-01 -6.26412692e-03 1.57056016e+01] [ 1.38838558e-01 9.90314758e-01 -7.30862463e-04 1.35959756e+00] [ 6.30493058e-03 -1.45932941e-04 9.99980113e-01 4.29426477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.791858064 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:15.74, Y:1.36, Z:0.04 [[ 9.91442135e-01 -1.30397560e-01 -6.24251049e-03 1.57404510e+01] [ 1.30394581e-01 9.91461786e-01 -8.83583023e-04 1.35889239e+00] [ 6.30442767e-03 6.20318978e-05 9.99980125e-01 4.08717918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.821858064 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:15.76, Y:1.37, Z:0.04 [[ 9.91272750e-01 -1.31678402e-01 -6.25570886e-03 1.57623248e+01] [ 1.31676038e-01 9.91292488e-01 -7.90187988e-04 1.36646590e+00] [ 6.30528789e-03 -4.04351347e-05 9.99980121e-01 4.00848446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.851858063999998 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:15.80, Y:1.36, Z:0.04 [[ 9.92108770e-01 -1.25224696e-01 -6.24211949e-03 1.57986213e+01] [ 1.25221600e-01 9.92128402e-01 -8.85936049e-04 1.36413733e+00] [ 6.30392510e-03 9.72967338e-05 9.99980125e-01 3.94283958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.881858064 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:15.82, Y:1.37, Z:0.04 [[ 9.92896080e-01 -1.18819934e-01 -6.26085966e-03 1.58237256e+01] [ 1.18817547e-01 9.92915819e-01 -7.53126074e-04 1.36517355e+00] [ 6.30599299e-03 3.87593796e-06 9.99980117e-01 3.61767426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.911858064 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:15.85, Y:1.37, Z:0.04 [[ 9.92854503e-01 -1.19167032e-01 -6.25735972e-03 1.58518562e+01] [ 1.19164494e-01 9.92874221e-01 -7.78106477e-04 1.36942597e+00] [ 6.30549580e-03 2.68914132e-05 9.99980120e-01 3.63472790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941858063999998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:15.88, Y:1.37, Z:0.04 [[ 9.93089047e-01 -1.17196377e-01 -6.25734746e-03 1.58789041e+01] [ 1.17193800e-01 9.93108759e-01 -7.78193860e-04 1.37345344e+00] [ 6.30542807e-03 3.94934700e-05 9.99980120e-01 3.79342378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.971858064 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:15.91, Y:1.38, Z:0.04 [[ 9.93190158e-01 -1.16336489e-01 -6.25552590e-03 1.59077293e+01] [ 1.16333813e-01 9.93209856e-01 -7.91155447e-04 1.37828326e+00] [ 6.30509023e-03 5.80386201e-05 9.99980121e-01 3.79493162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001858064 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:15.93, Y:1.39, Z:0.04 [[ 9.92824802e-01 -1.19414445e-01 -6.25326568e-03 1.59290565e+01] [ 1.19411730e-01 9.92844493e-01 -8.07079503e-04 1.38855131e+00] [ 6.30489734e-03 5.45752768e-05 9.99980122e-01 4.15341245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.031858063999998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:15.96, Y:1.39, Z:0.04 [[ 9.93055126e-01 -1.17484605e-01 -6.23576161e-03 1.59563985e+01] [ 1.17481081e-01 9.93074686e-01 -9.29698513e-04 1.39164903e+00] [ 6.30180226e-03 1.90657860e-04 9.99980125e-01 4.32585548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061858064 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:15.99, Y:1.40, Z:0.04 [[ 9.92948078e-01 -1.18385897e-01 -6.23654566e-03 1.59868393e+01] [ 1.18382425e-01 9.92967647e-01 -9.24186719e-04 1.39501472e+00] [ 6.30209875e-03 1.79372026e-04 9.99980125e-01 4.38792439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.091858064 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:16.01, Y:1.40, Z:0.04 [[ 9.92988488e-01 -1.18046195e-01 -6.24172241e-03 1.60125490e+01] [ 1.18042945e-01 9.93008094e-01 -8.87790978e-04 1.39788370e+00] [ 6.30288123e-03 1.44774924e-04 9.99980126e-01 4.04108962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121858064 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:16.04, Y:1.40, Z:0.04 [[ 9.92860587e-01 -1.19117401e-01 -6.23692055e-03 1.60419680e+01] [ 1.19113961e-01 9.92880162e-01 -9.21474729e-04 1.40130472e+00] [ 6.30227836e-03 1.71991631e-04 9.99980126e-01 4.36840857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.151858064 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:16.07, Y:1.40, Z:0.04 [[ 9.92737276e-01 -1.20140531e-01 -6.24135338e-03 1.60696063e+01] [ 1.20137306e-01 9.92756886e-01 -8.90402491e-04 1.40297895e+00] [ 6.30311997e-03 1.34116361e-04 9.99980126e-01 4.36761420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181858064 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:16.10, Y:1.40, Z:0.04 [[ 9.92677870e-01 -1.20630400e-01 -6.24127543e-03 1.60979078e+01] [ 1.20627181e-01 9.92697481e-01 -8.90948521e-04 1.40482862e+00] [ 6.30317388e-03 1.31557416e-04 9.99980126e-01 4.49255265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.211858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:16.13, Y:1.40, Z:0.04 [[ 9.92997847e-01 -1.17967476e-01 -6.24102054e-03 1.61297104e+01] [ 1.17964194e-01 9.93017448e-01 -8.92730481e-04 1.40287959e+00] [ 6.30275545e-03 1.50262491e-04 9.99980126e-01 4.43235004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241858064 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:16.16, Y:1.40, Z:0.04 [[ 9.92701243e-01 -1.20437429e-01 -6.25043089e-03 1.61609072e+01] [ 1.20434611e-01 9.92720918e-01 -8.26722093e-04 1.40309990e+00] [ 6.30450177e-03 6.79198389e-05 9.99980124e-01 4.45401498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.271858064 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:16.18, Y:1.41, Z:0.04 [[ 9.92226905e-01 -1.24284450e-01 -6.25655413e-03 1.61816927e+01] [ 1.24281978e-01 9.92246630e-01 -7.83917997e-04 1.40966073e+00] [ 6.30547357e-03 2.47606712e-07 9.99980120e-01 4.48464812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301858064 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:16.21, Y:1.41, Z:0.04 [[ 9.91915084e-01 -1.26749995e-01 -6.23731557e-03 1.62108415e+01] [ 1.26746730e-01 9.91934688e-01 -9.17535122e-04 1.41178504e+00] [ 6.30330724e-03 1.19557575e-04 9.99980127e-01 4.48570410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.331858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:16.24, Y:1.41, Z:0.04 [[ 9.91848669e-01 -1.27268539e-01 -6.23993511e-03 1.62440293e+01] [ 1.27265399e-01 9.91868292e-01 -8.99360234e-04 1.40554745e+00] [ 6.30365405e-03 9.79014196e-05 9.99980127e-01 4.12610571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361858064 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:16.27, Y:1.41, Z:0.05 [[ 9.91159104e-01 -1.32531351e-01 -6.25081302e-03 1.62668489e+01] [ 1.32528791e-01 9.91178814e-01 -8.23748248e-04 1.41065859e+00] [ 6.30484591e-03 -1.19471182e-05 9.99980124e-01 4.50200263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.391858064 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:16.29, Y:1.41, Z:0.05 [[ 9.90734976e-01 -1.35666037e-01 -6.23966754e-03 1.62945757e+01] [ 1.35663053e-01 9.90754624e-01 -9.00939080e-04 1.41283863e+00] [ 6.30420630e-03 4.60995072e-05 9.99980127e-01 4.67002420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421858064 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:16.32, Y:1.41, Z:0.05 [[ 9.90492043e-01 -1.37428532e-01 -6.23789582e-03 1.63237153e+01] [ 1.37425507e-01 9.90511684e-01 -9.13190925e-04 1.41443441e+00] [ 6.30420718e-03 4.72623525e-05 9.99980127e-01 4.59541448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.451858064 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:16.35, Y:1.41, Z:0.04 [[ 9.89953780e-01 -1.41253619e-01 -6.23926844e-03 1.63523353e+01] [ 1.41250729e-01 9.89973442e-01 -9.03714286e-04 1.41381735e+00] [ 6.30436296e-03 1.33341607e-05 9.99980127e-01 4.48371956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481858064 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:16.38, Y:1.42, Z:0.05 [[ 9.89650144e-01 -1.43365504e-01 -6.23901246e-03 1.63809296e+01] [ 1.43362644e-01 9.89669810e-01 -9.05478040e-04 1.41565893e+00] [ 6.30437659e-03 1.66514808e-06 9.99980127e-01 4.73492072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.511858064 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:16.41, Y:1.42, Z:0.05 [[ 9.89608450e-01 -1.43652943e-01 -6.24085696e-03 1.64080035e+01] [ 1.43650170e-01 9.89628128e-01 -8.92782302e-04 1.41700572e+00] [ 6.30437839e-03 -1.29952517e-05 9.99980127e-01 4.74294387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541858064 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:16.43, Y:1.42, Z:0.04 [[ 9.88342826e-01 -1.52116887e-01 -6.23793156e-03 1.64283488e+01] [ 1.52114155e-01 9.88362510e-01 -9.12884666e-04 1.42198754e+00] [ 6.30420287e-03 -4.66346805e-05 9.99980127e-01 4.22737863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.571858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:16.47, Y:1.42, Z:0.05 [[ 9.89381301e-01 -1.45210087e-01 -6.21864189e-03 1.64676122e+01] [ 1.45206380e-01 9.89400835e-01 -1.04600349e-03 1.41696134e+00] [ 6.30461974e-03 1.31909822e-04 9.99980117e-01 4.94869697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601858063999998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:16.50, Y:1.42, Z:0.05 [[ 9.89224614e-01 -1.46272784e-01 -6.23980185e-03 1.64969813e+01] [ 1.46270022e-01 9.89244293e-01 -8.99163023e-04 1.41788703e+00] [ 6.30421145e-03 -2.32217586e-05 9.99980128e-01 4.90057170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.631858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:16.53, Y:1.42, Z:0.05 [[ 9.89277203e-01 -1.45916660e-01 -6.24049950e-03 1.65251293e+01] [ 1.45913921e-01 9.89296886e-01 -8.94326401e-04 1.42056814e+00] [ 6.30420384e-03 -2.58390338e-05 9.99980128e-01 5.02172295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:16.55, Y:1.42, Z:0.05 [[ 9.89374823e-01 -1.45253326e-01 -6.23949497e-03 1.65522869e+01] [ 1.45250531e-01 9.89394497e-01 -9.01280712e-04 1.42272991e+00] [ 6.30423601e-03 -1.45855104e-05 9.99980128e-01 5.03178032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.691858063999998 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:16.58, Y:1.43, Z:0.05 [[ 9.89551269e-01 -1.44046370e-01 -6.23938674e-03 1.65811783e+01] [ 1.44043546e-01 9.89570939e-01 -9.02029322e-04 1.42592231e+00] [ 6.30424984e-03 -6.13912927e-06 9.99980128e-01 5.09335756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:16.61, Y:1.43, Z:0.05 [[ 9.90061458e-01 -1.40496909e-01 -6.23921079e-03 1.66094146e+01] [ 1.40494007e-01 9.90081117e-01 -9.03244067e-04 1.42809827e+00] [ 6.30422779e-03 1.76954143e-05 9.99980128e-01 5.04290334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.751858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:16.64, Y:1.43, Z:0.05 [[ 9.90242333e-01 -1.39216373e-01 -6.23887024e-03 1.66368777e+01] [ 1.39213431e-01 9.90261986e-01 -9.05590213e-04 1.43116985e+00] [ 6.30418902e-03 2.82192351e-05 9.99980128e-01 5.08684193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781858063999998 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:16.66, Y:1.43, Z:0.05 [[ 9.90606349e-01 -1.36602054e-01 -6.24015100e-03 1.66646141e+01] [ 1.36599115e-01 9.90626003e-01 -8.96778597e-04 1.43337120e+00] [ 6.30415764e-03 3.59554701e-05 9.99980128e-01 5.04769602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.811858064 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:16.69, Y:1.44, Z:0.05 [[ 9.90726298e-01 -1.35729455e-01 -6.23841410e-03 1.66923393e+01] [ 1.35726424e-01 9.90745937e-01 -9.08702730e-04 1.43602996e+00] [ 6.30402115e-03 5.35580569e-05 9.99980128e-01 5.03947461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841858064 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:16.72, Y:1.44, Z:0.05 [[ 9.90668525e-01 -1.36150578e-01 -6.23653790e-03 1.67211431e+01] [ 1.36147474e-01 9.90688153e-01 -9.21558410e-04 1.43871045e+00] [ 6.30393493e-03 6.38700310e-05 9.99980128e-01 4.98683507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.871858064 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:16.75, Y:1.44, Z:0.05 [[ 9.90636221e-01 -1.36385349e-01 -6.23811168e-03 1.67497387e+01] [ 1.36382317e-01 9.90655861e-01 -9.10779305e-04 1.44073476e+00] [ 6.30403885e-03 5.14828430e-05 9.99980128e-01 5.00373883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.901858064 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:16.79, Y:1.43, Z:0.05 [[ 9.91173548e-01 -1.32423892e-01 -6.23787602e-03 1.67867964e+01] [ 1.32420772e-01 9.91193173e-01 -9.12390444e-04 1.43487476e+00] [ 6.30376242e-03 7.83129127e-05 9.99980128e-01 5.03988028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.931858064 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:16.81, Y:1.44, Z:0.05 [[ 9.90471778e-01 -1.37573665e-01 -6.25650350e-03 1.68070580e+01] [ 1.37571452e-01 9.90491534e-01 -7.84625590e-04 1.44268770e+00] [ 6.30495757e-03 -8.35667708e-05 9.99980120e-01 5.11771120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.961858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:16.83, Y:1.45, Z:0.05 [[ 9.90410989e-01 -1.38011475e-01 -6.23743687e-03 1.68344551e+01] [ 1.38008452e-01 9.90430629e-01 -9.14650403e-04 1.44532989e+00] [ 6.30398077e-03 4.50608046e-05 9.99980129e-01 5.16432406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.991858064 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:16.86, Y:1.45, Z:0.05 [[ 9.90263465e-01 -1.39066044e-01 -6.23735796e-03 1.68627223e+01] [ 1.39063038e-01 9.90283108e-01 -9.15188235e-04 1.44860040e+00] [ 6.30402183e-03 3.88915267e-05 9.99980129e-01 5.22119576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.021858064 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:16.90, Y:1.44, Z:0.05 [[ 9.90663754e-01 -1.36185260e-01 -6.23710743e-03 1.69008635e+01] [ 1.36182186e-01 9.90683386e-01 -9.16892407e-04 1.44459118e+00] [ 6.30386594e-03 5.89491465e-05 9.99980129e-01 5.39648486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.051858064 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:16.93, Y:1.45, Z:0.06 [[ 9.90722943e-01 -1.35753101e-01 -6.25671726e-03 1.69262253e+01] [ 1.35750863e-01 9.90742696e-01 -7.82915693e-04 1.44657476e+00] [ 6.30508016e-03 -7.37022306e-05 9.99980120e-01 5.60890963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.081858064 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:16.96, Y:1.45, Z:0.06 [[ 9.89987815e-01 -1.41014343e-01 -6.25152829e-03 1.69581129e+01] [ 1.41011988e-01 9.90007550e-01 -8.18129810e-04 1.44856511e+00] [ 6.30442825e-03 -7.16018866e-05 9.99980124e-01 5.71608555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.111858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:16.99, Y:1.45, Z:0.06 [[ 9.89442598e-01 -1.44790295e-01 -6.25424429e-03 1.69887782e+01] [ 1.44788130e-01 9.89462358e-01 -7.99947735e-04 1.45175473e+00] [ 6.30416397e-03 -1.14037970e-04 9.99980122e-01 5.92777663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.141858064 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:17.02, Y:1.45, Z:0.06 [[ 9.89189097e-01 -1.46512042e-01 -6.25711035e-03 1.70180575e+01] [ 1.46510032e-01 9.89208876e-01 -7.80820665e-04 1.45380799e+00] [ 6.30398873e-03 -1.44350149e-04 9.99980119e-01 5.91688139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.171858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:17.04, Y:1.46, Z:0.06 [[ 9.88535248e-01 -1.50860581e-01 -6.25684451e-03 1.70420365e+01] [ 1.50858647e-01 9.88555034e-01 -7.82589586e-04 1.45690549e+00] [ 6.30329706e-03 -1.70281707e-04 9.99980120e-01 5.74535830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201858064 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:17.07, Y:1.46, Z:0.06 [[ 9.88031879e-01 -1.54123169e-01 -6.24945306e-03 1.70711324e+01] [ 1.54120991e-01 9.88051633e-01 -8.31634425e-04 1.46221741e+00] [ 6.30295644e-03 -1.41490573e-04 9.99980126e-01 5.68061672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.231858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.10, Y:1.47, Z:0.06 [[ 9.87518122e-01 -1.57381397e-01 -6.24935749e-03 1.70982292e+01] [ 1.57379279e-01 9.87537883e-01 -8.32266085e-04 1.46805963e+00] [ 6.30246047e-03 -1.61641535e-04 9.99980126e-01 5.74368563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:17.13, Y:1.47, Z:0.06 [[ 9.87249024e-01 -1.59060891e-01 -6.24474311e-03 1.71278816e+01] [ 1.59058615e-01 9.87268764e-01 -8.62621644e-04 1.47191447e+00] [ 6.30244918e-03 -1.41657814e-04 9.99980129e-01 5.76811763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.291858064 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:17.15, Y:1.48, Z:0.06 [[ 9.86530988e-01 -1.63455097e-01 -6.24833170e-03 1.71472728e+01] [ 1.63453058e-01 9.86550756e-01 -8.39058070e-04 1.48086205e+00] [ 6.30144468e-03 -1.93552138e-04 9.99980127e-01 5.58898827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321858064 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:17.18, Y:1.49, Z:0.06 [[ 9.86350355e-01 -1.64542259e-01 -6.23069708e-03 1.71752482e+01] [ 1.64539513e-01 9.86370031e-01 -9.54207283e-04 1.48543432e+00] [ 6.30278030e-03 -8.40131730e-05 9.99980134e-01 5.58471720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.351858063999998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:17.21, Y:1.49, Z:0.06 [[ 9.86252167e-01 -1.65129779e-01 -6.23043814e-03 1.72069961e+01] [ 1.65127035e-01 9.86271843e-01 -9.55895026e-04 1.48901279e+00] [ 6.30275245e-03 -8.60602338e-05 9.99980134e-01 5.88871523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381858064 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:17.23, Y:1.50, Z:0.06 [[ 9.85807086e-01 -1.67766165e-01 -6.23716443e-03 1.72345462e+01] [ 1.67763751e-01 9.85826806e-01 -9.11966337e-04 1.49576447e+00] [ 6.30176098e-03 -1.47347222e-04 9.99980133e-01 5.57666836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.411858064 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:17.26, Y:1.50, Z:0.06 [[ 9.85663890e-01 -1.68605529e-01 -6.23467475e-03 1.72631707e+01] [ 1.68603029e-01 9.85683599e-01 -9.28191517e-04 1.50083560e+00] [ 6.30191487e-03 -1.36300188e-04 9.99980133e-01 5.71305017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.441858063999998 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:17.29, Y:1.51, Z:0.06 [[ 9.85536020e-01 -1.69351350e-01 -6.23486564e-03 1.72918352e+01] [ 1.69348873e-01 9.85555732e-01 -9.26950615e-04 1.50589388e+00] [ 6.30178790e-03 -1.42324247e-04 9.99980133e-01 5.62584332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.471858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:17.32, Y:1.51, Z:0.06 [[ 9.85189335e-01 -1.71356612e-01 -6.23588366e-03 1.73195674e+01] [ 1.71354217e-01 9.85209057e-01 -9.20334126e-04 1.51082649e+00] [ 6.30135440e-03 -1.61841598e-04 9.99980133e-01 5.69214629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501858064 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:17.35, Y:1.52, Z:0.06 [[ 9.84972429e-01 -1.72598974e-01 -6.23769175e-03 1.73482614e+01] [ 1.72596678e-01 9.84992163e-01 -9.08594750e-04 1.51596942e+00] [ 6.30090001e-03 -1.81664095e-04 9.99980133e-01 5.79397804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.531858063999998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:17.37, Y:1.52, Z:0.06 [[ 9.84618179e-01 -1.74608506e-01 -6.23796745e-03 1.73719988e+01] [ 1.74606261e-01 9.84637919e-01 -9.06806766e-04 1.52276538e+00] [ 6.30047546e-03 -1.96329749e-04 9.99980133e-01 5.98783052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561858064 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:17.40, Y:1.53, Z:0.06 [[ 9.84480179e-01 -1.75385216e-01 -6.22923171e-03 1.73991796e+01] [ 1.75382630e-01 9.84499876e-01 -9.63297146e-04 1.52856976e+00] [ 6.30162592e-03 -1.44152093e-04 9.99980134e-01 6.07416147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.591858064 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:17.43, Y:1.53, Z:0.06 [[ 9.85009662e-01 -1.72386669e-01 -6.22910416e-03 1.74298456e+01] [ 1.72384018e-01 9.85029350e-01 -9.64121232e-04 1.53073038e+00] [ 6.30205207e-03 -1.24129272e-04 9.99980134e-01 5.97669205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621858064 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:17.46, Y:1.54, Z:0.06 [[ 9.85145326e-01 -1.71609549e-01 -6.23288304e-03 1.74606580e+01] [ 1.71607036e-01 9.85165033e-01 -9.39746103e-04 1.53707717e+00] [ 6.30168783e-03 -1.43820102e-04 9.99980134e-01 6.19090008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.651858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:17.48, Y:1.55, Z:0.06 [[ 9.85284838e-01 -1.70806467e-01 -6.24008490e-03 1.74833152e+01] [ 1.70804232e-01 9.85304580e-01 -8.93311222e-04 1.54537173e+00] [ 6.30096757e-03 -1.85666907e-04 9.99980131e-01 6.05504774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:17.51, Y:1.55, Z:0.06 [[ 9.85755974e-01 -1.68066563e-01 -6.22811003e-03 1.75101188e+01] [ 1.68063787e-01 9.85775645e-01 -9.70184213e-04 1.55228565e+00] [ 6.30257471e-03 -9.03548752e-05 9.99980134e-01 6.00362459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.711858064 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:17.54, Y:1.56, Z:0.06 [[ 9.86877983e-01 -1.61347631e-01 -6.22799281e-03 1.75432363e+01] [ 1.61344717e-01 9.86897634e-01 -9.70936075e-04 1.55737826e+00] [ 6.30304961e-03 -4.66583003e-05 9.99980134e-01 5.74650740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:17.56, Y:1.56, Z:0.06 [[ 9.87265894e-01 -1.58956256e-01 -6.24196668e-03 1.75647520e+01] [ 1.58953862e-01 9.87285619e-01 -8.81050624e-04 1.56465532e+00] [ 6.30265245e-03 -1.22353476e-04 9.99980131e-01 5.78371799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.771858064 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:17.59, Y:1.57, Z:0.06 [[ 9.87722962e-01 -1.56091529e-01 -6.22779434e-03 1.75928165e+01] [ 1.56088504e-01 9.87742595e-01 -9.71868104e-04 1.56918570e+00] [ 6.30315812e-03 -1.21506602e-05 9.99980135e-01 5.94801461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:17.62, Y:1.57, Z:0.06 [[ 9.88161335e-01 -1.53291861e-01 -6.22752062e-03 1.76196660e+01] [ 1.53288769e-01 9.88180958e-01 -9.73618879e-04 1.57356632e+00] [ 6.30316514e-03 7.48355906e-06 9.99980135e-01 5.95274911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.831858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:17.65, Y:1.58, Z:0.06 [[ 9.88118916e-01 -1.53565059e-01 -6.22740190e-03 1.76479040e+01] [ 1.53561968e-01 9.88138539e-01 -9.74377593e-04 1.57805980e+00] [ 6.30316617e-03 6.50883948e-06 9.99980135e-01 5.97074078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:17.68, Y:1.58, Z:0.06 [[ 9.88718033e-01 -1.49659191e-01 -6.22713203e-03 1.76786692e+01] [ 1.49656012e-01 9.88737642e-01 -9.76099255e-04 1.58401761e+00] [ 6.30308207e-03 3.31591896e-05 9.99980135e-01 6.01406025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.891858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:17.70, Y:1.59, Z:0.06 [[ 9.89161526e-01 -1.46699120e-01 -6.23252836e-03 1.77042439e+01] [ 1.46696098e-01 9.89181160e-01 -9.41659452e-04 1.58879540e+00] [ 6.30324025e-03 1.71657071e-05 9.99980134e-01 5.92781185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:17.73, Y:1.59, Z:0.06 [[ 9.89292654e-01 -1.45812456e-01 -6.22681962e-03 1.77325471e+01] [ 1.45809189e-01 9.89312248e-01 -9.78006210e-04 1.59312957e+00] [ 6.30287440e-03 5.96068423e-05 9.99980135e-01 6.05216208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.951858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:17.76, Y:1.60, Z:0.06 [[ 9.89365874e-01 -1.45314823e-01 -6.22658246e-03 1.77617128e+01] [ 1.45311536e-01 9.89385465e-01 -9.79513763e-04 1.59630054e+00] [ 6.30282805e-03 6.43032289e-05 9.99980135e-01 6.37758769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:17.79, Y:1.60, Z:0.07 [[ 9.89307174e-01 -1.45713929e-01 -6.22634478e-03 1.77901651e+01] [ 1.45710640e-01 9.89326765e-01 -9.81022250e-04 1.60020899e+00] [ 6.30283815e-03 6.32876673e-05 9.99980135e-01 6.52470175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.011858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:17.82, Y:1.60, Z:0.06 [[ 9.89192715e-01 -1.46488935e-01 -6.22610505e-03 1.78177932e+01] [ 1.46485652e-01 9.89212307e-01 -9.82541399e-04 1.60453647e+00] [ 6.30287118e-03 5.98877375e-05 9.99980135e-01 6.49616080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:17.85, Y:1.61, Z:0.06 [[ 9.89111262e-01 -1.47037869e-01 -6.22715344e-03 1.78454479e+01] [ 1.47034638e-01 9.89130862e-01 -9.75904754e-04 1.60970458e+00] [ 6.30296461e-03 4.96711278e-05 9.99980135e-01 6.44930992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.071858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:17.87, Y:1.61, Z:0.06 [[ 9.88983802e-01 -1.47892798e-01 -6.22578512e-03 1.78731756e+01] [ 1.47889530e-01 9.89003396e-01 -9.84557224e-04 1.61449238e+00] [ 6.30293155e-03 5.29827096e-05 9.99980135e-01 6.39000842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101858063999998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:17.90, Y:1.62, Z:0.06 [[ 9.88820625e-01 -1.48979914e-01 -6.22550976e-03 1.79000642e+01] [ 1.48976657e-01 9.88840221e-01 -9.86295340e-04 1.61836187e+00] [ 6.30297264e-03 4.78135439e-05 9.99980135e-01 6.28396604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.131858064 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:17.93, Y:1.62, Z:0.06 [[ 9.88181811e-01 -1.53159891e-01 -6.22539086e-03 1.79282308e+01] [ 1.53156712e-01 9.88201420e-01 -9.87045217e-04 1.62048121e+00] [ 6.30311583e-03 2.19197318e-05 9.99980135e-01 6.36056876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161858064 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:17.96, Y:1.62, Z:0.07 [[ 9.87763529e-01 -1.55834715e-01 -6.22512792e-03 1.79562924e+01] [ 1.55831578e-01 9.87783145e-01 -9.88700758e-04 1.62321840e+00] [ 6.30315034e-03 6.53103965e-06 9.99980135e-01 6.57602144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.191858063999998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:17.98, Y:1.63, Z:0.07 [[ 9.87221192e-01 -1.59234323e-01 -6.22484978e-03 1.79834199e+01] [ 1.59231244e-01 9.87240817e-01 -9.90448866e-04 1.62633794e+00] [ 6.30313923e-03 -1.33984609e-05 9.99980135e-01 6.55474284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221858064 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:18.01, Y:1.63, Z:0.06 [[ 9.86172315e-01 -1.65606215e-01 -6.22472932e-03 1.80114944e+01] [ 1.65603257e-01 9.86191958e-01 -9.91205317e-04 1.62910923e+00] [ 6.30292776e-03 -5.33362072e-05 9.99980135e-01 6.35530639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.251858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:18.04, Y:1.63, Z:0.06 [[ 9.85721184e-01 -1.68270666e-01 -6.22340643e-03 1.80385694e+01] [ 1.68267709e-01 9.85740828e-01 -9.99506667e-04 1.63352383e+00] [ 6.30285346e-03 -6.19634481e-05 9.99980135e-01 6.41147237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281858063999998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:18.07, Y:1.64, Z:0.06 [[ 9.85189253e-01 -1.71357614e-01 -6.22129609e-03 1.80705195e+01] [ 1.71354635e-01 9.85208893e-01 -1.01275320e-03 1.63775511e+00] [ 6.30281921e-03 -6.82943527e-05 9.99980135e-01 6.44628541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.311858064 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:18.10, Y:1.64, Z:0.06 [[ 9.83751344e-01 -1.79428195e-01 -6.23027241e-03 1.80956264e+01] [ 1.79425732e-01 9.83771057e-01 -9.56510498e-04 1.64411635e+00] [ 6.30078662e-03 -1.76902702e-04 9.99980134e-01 6.09185388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:18.12, Y:1.65, Z:0.06 [[ 9.83681559e-01 -1.79810648e-01 -6.22268933e-03 1.81225445e+01] [ 1.79807894e-01 9.83701232e-01 -1.00387085e-03 1.64643838e+00] [ 6.30177383e-03 -1.31399424e-04 9.99980135e-01 5.99124043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.371858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:18.15, Y:1.65, Z:0.06 [[ 9.82583902e-01 -1.85715342e-01 -6.21991592e-03 1.81513768e+01] [ 1.85712597e-01 9.82603577e-01 -1.02115584e-03 1.65291663e+00] [ 6.30135593e-03 -1.51745452e-04 9.99980135e-01 5.76065910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.401858064 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:18.18, Y:1.66, Z:0.06 [[ 9.82631638e-01 -1.85462585e-01 -6.22034620e-03 1.81801355e+01] [ 1.85459852e-01 9.82651315e-01 -1.01847605e-03 1.65687854e+00] [ 6.30132057e-03 -1.52837691e-04 9.99980135e-01 6.40764493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.431858064 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:18.21, Y:1.66, Z:0.07 [[ 9.82479917e-01 -1.86264550e-01 -6.22330174e-03 1.82082797e+01] [ 1.86261949e-01 9.82499611e-01 -1.00008438e-03 1.66436894e+00] [ 6.30067181e-03 -1.76601494e-04 9.99980135e-01 6.68515879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461858064 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:18.24, Y:1.67, Z:0.07 [[ 9.82644489e-01 -1.85394396e-01 -6.22305433e-03 1.82351952e+01] [ 1.85391767e-01 9.82664179e-01 -1.00162154e-03 1.67049931e+00] [ 6.30086760e-03 -1.69465150e-04 9.99980135e-01 6.77564166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.491858064 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:18.26, Y:1.67, Z:0.07 [[ 9.82629364e-01 -1.85474646e-01 -6.22005416e-03 1.82623585e+01] [ 1.85471901e-01 9.82649039e-01 -1.02024098e-03 1.67495250e+00] [ 6.30135908e-03 -1.51126525e-04 9.99980135e-01 6.79221615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521858064 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:18.29, Y:1.68, Z:0.07 [[ 9.82281311e-01 -1.87309204e-01 -6.21991432e-03 1.82857810e+01] [ 1.87306491e-01 9.82300990e-01 -1.02110829e-03 1.68341657e+00] [ 6.30109098e-03 -1.62014735e-04 9.99980135e-01 6.70422667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.551858064 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:18.32, Y:1.69, Z:0.07 [[ 9.82685233e-01 -1.85178610e-01 -6.21404036e-03 1.83190415e+01] [ 1.85175624e-01 9.82704874e-01 -1.05759199e-03 1.68784441e+00] [ 6.30241116e-03 -1.11408766e-04 9.99980133e-01 6.72798304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581858064 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:18.35, Y:1.70, Z:0.07 [[ 9.82948863e-01 -1.83773644e-01 -6.22740982e-03 1.83461727e+01] [ 1.83771156e-01 9.82968572e-01 -9.74416993e-04 1.69710182e+00] [ 6.30042030e-03 -1.86616224e-04 9.99980135e-01 6.89442210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.611858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:18.38, Y:1.70, Z:0.07 [[ 9.83512153e-01 -1.80734873e-01 -6.22494507e-03 1.83762261e+01] [ 1.80732227e-01 9.83531841e-01 -9.89710102e-04 1.70243490e+00] [ 6.30130681e-03 -1.51656270e-04 9.99980135e-01 6.87414713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:18.40, Y:1.71, Z:0.07 [[ 9.84276626e-01 -1.76524001e-01 -6.22897325e-03 1.84031179e+01] [ 1.76521429e-01 9.84296325e-01 -9.64674470e-04 1.70731990e+00] [ 6.30144368e-03 -1.50040725e-04 9.99980134e-01 6.77296339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.671858064 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:18.43, Y:1.72, Z:0.07 [[ 9.85014581e-01 -1.72358487e-01 -6.23121490e-03 1.84260981e+01] [ 1.72355920e-01 9.85034280e-01 -9.50692808e-04 1.71841946e+00] [ 6.30182026e-03 -1.37540497e-04 9.99980134e-01 6.77716282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701858064 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:18.45, Y:1.73, Z:0.07 [[ 9.85482908e-01 -1.69660570e-01 -6.22322285e-03 1.84534188e+01] [ 1.69657635e-01 9.85502555e-01 -1.00040881e-03 1.72536001e+00] [ 6.30273195e-03 -6.99314888e-05 9.99980135e-01 6.66782367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.731858064 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:18.49, Y:1.73, Z:0.07 [[ 9.86037197e-01 -1.66408896e-01 -6.22295679e-03 1.84850505e+01] [ 1.66405886e-01 9.86056833e-01 -1.00206111e-03 1.73122157e+00] [ 6.30294094e-03 -4.74671073e-05 9.99980135e-01 6.52917588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761858064 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:18.51, Y:1.74, Z:0.06 [[ 9.86593978e-01 -1.63075087e-01 -6.23205822e-03 1.85096694e+01] [ 1.63072368e-01 9.86613657e-01 -9.45469167e-04 1.74085713e+00] [ 6.30281622e-03 -8.34823019e-05 9.99980134e-01 6.36110011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.791858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:18.54, Y:1.75, Z:0.06 [[ 9.86846702e-01 -1.61538984e-01 -6.22442709e-03 1.85370481e+01] [ 1.61535936e-01 9.86866331e-01 -9.92704555e-04 1.74695500e+00] [ 6.30303801e-03 -2.58214385e-05 9.99980135e-01 6.44058644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821858064 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:18.56, Y:1.75, Z:0.07 [[ 9.87521547e-01 -1.57360984e-01 -6.22216437e-03 1.85644373e+01] [ 1.57357765e-01 9.87541149e-01 -1.00668277e-03 1.75080003e+00] [ 6.30305594e-03 1.50150516e-05 9.99980135e-01 7.05759732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.851858063999998 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:18.59, Y:1.76, Z:0.07 [[ 9.87994580e-01 -1.54363197e-01 -6.22199918e-03 1.85917082e+01] [ 1.54359912e-01 9.88014171e-01 -1.00770274e-03 1.75816334e+00] [ 6.30297558e-03 3.51776042e-05 9.99980135e-01 7.10297510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881858064 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:18.62, Y:1.76, Z:0.07 [[ 9.88125808e-01 -1.53520927e-01 -6.22191649e-03 1.86193047e+01] [ 1.53517622e-01 9.88145396e-01 -1.00821302e-03 1.76405690e+00] [ 6.30293993e-03 4.10674846e-05 9.99980135e-01 7.16560392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.911858064 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:18.65, Y:1.77, Z:0.07 [[ 9.88244726e-01 -1.52753570e-01 -6.22165842e-03 1.86467576e+01] [ 1.52750240e-01 9.88264309e-01 -1.00980303e-03 1.76931275e+00] [ 6.30289398e-03 4.75727042e-05 9.99980135e-01 7.22729659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.941858063999998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:18.67, Y:1.77, Z:0.07 [[ 9.88615746e-01 -1.50333632e-01 -6.22136880e-03 1.86735314e+01] [ 1.50330243e-01 9.88635319e-01 -1.01158424e-03 1.77400890e+00] [ 6.30274007e-03 6.48082234e-05 9.99980135e-01 7.14403174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.971858064 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:18.70, Y:1.78, Z:0.06 [[ 9.88664945e-01 -1.50009743e-01 -6.22124312e-03 1.86985573e+01] [ 1.50006342e-01 9.88684516e-01 -1.01235658e-03 1.77923126e+00] [ 6.30271010e-03 6.76555359e-05 9.99980135e-01 6.40737319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.001858064 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:18.73, Y:1.78, Z:0.07 [[ 9.89048395e-01 -1.47460568e-01 -6.21714621e-03 1.87278100e+01] [ 1.47456959e-01 9.89067929e-01 -1.03751880e-03 1.78282455e+00] [ 6.30217304e-03 1.09394827e-04 9.99980135e-01 7.02409735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.031858063999998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:18.75, Y:1.79, Z:0.07 [[ 9.89268597e-01 -1.45975822e-01 -6.22111735e-03 1.87540351e+01] [ 1.45972337e-01 9.89288153e-01 -1.01313414e-03 1.78768817e+00] [ 6.30237079e-03 9.41507532e-05 9.99980135e-01 6.82593994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.061858064 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:18.78, Y:1.79, Z:0.07 [[ 9.89673705e-01 -1.43203595e-01 -6.21999056e-03 1.87828732e+01] [ 1.43200011e-01 9.89693244e-01 -1.02004471e-03 1.79267780e+00] [ 6.30195670e-03 1.18808706e-04 9.99980135e-01 6.85141338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.091858064 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:18.81, Y:1.80, Z:0.07 [[ 9.89765457e-01 -1.42568029e-01 -6.22076626e-03 1.88109778e+01] [ 1.42564462e-01 9.89784999e-01 -1.01529190e-03 1.79753562e+00] [ 6.30196929e-03 1.18040657e-04 9.99980135e-01 6.89923159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.121858063999998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:18.84, Y:1.80, Z:0.07 [[ 9.89787250e-01 -1.42416661e-01 -6.22047284e-03 1.88387774e+01] [ 1.42413081e-01 9.89806789e-01 -1.01708647e-03 1.80242159e+00] [ 6.30191631e-03 1.20822518e-04 9.99980135e-01 6.86255739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.151858064 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:18.87, Y:1.81, Z:0.07 [[ 9.89705998e-01 -1.42980232e-01 -6.22017971e-03 1.88666771e+01] [ 1.42976651e-01 9.89725537e-01 -1.01887602e-03 1.80579583e+00] [ 6.30194983e-03 1.19047241e-04 9.99980135e-01 6.72412159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.181858064 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:18.89, Y:1.81, Z:0.07 [[ 9.89530457e-01 -1.44190102e-01 -6.22008898e-03 1.88935813e+01] [ 1.44186541e-01 9.89550000e-01 -1.01942959e-03 1.80898385e+00] [ 6.30208071e-03 1.11903507e-04 9.99980135e-01 6.64541835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.211858064 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:18.92, Y:1.81, Z:0.07 [[ 9.89272691e-01 -1.45948123e-01 -6.21996346e-03 1.89215128e+01] [ 1.45944593e-01 9.89292239e-01 -1.02019491e-03 1.81237379e+00] [ 6.30225711e-03 1.01480926e-04 9.99980135e-01 6.63521786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.241858064 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:18.95, Y:1.82, Z:0.07 [[ 9.88791448e-01 -1.49173684e-01 -6.21968736e-03 1.89488543e+01] [ 1.49170207e-01 9.88811006e-01 -1.02187539e-03 1.81536367e+00] [ 6.30253223e-03 8.26295979e-05 9.99980135e-01 6.53181362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.271858064 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:18.98, Y:1.82, Z:0.07 [[ 9.88566059e-01 -1.50660096e-01 -6.21956769e-03 1.89767903e+01] [ 1.50656644e-01 9.88585621e-01 -1.02260322e-03 1.81908765e+00] [ 6.30264069e-03 7.38916423e-05 9.99980135e-01 6.59533960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301858064 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:19.00, Y:1.82, Z:0.07 [[ 9.88423788e-01 -1.51590682e-01 -6.21928139e-03 1.90046792e+01] [ 1.51587237e-01 9.88443352e-01 -1.02434149e-03 1.82273614e+00] [ 6.30268797e-03 6.97198112e-05 9.99980135e-01 6.56946345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.331858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:19.03, Y:1.83, Z:0.07 [[ 9.88244759e-01 -1.52753466e-01 -6.21898673e-03 1.90325148e+01] [ 1.52750033e-01 9.88264324e-01 -1.02612734e-03 1.82519320e+00] [ 6.30274722e-03 6.41145417e-05 9.99980135e-01 6.54315236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:19.06, Y:1.83, Z:0.07 [[ 9.88068864e-01 -1.53887121e-01 -6.21889555e-03 1.90604118e+01] [ 1.53883707e-01 9.88088433e-01 -1.02667959e-03 1.82812909e+00] [ 6.30281153e-03 5.74434385e-05 9.99980135e-01 6.58319546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.391858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:19.09, Y:1.83, Z:0.07 [[ 9.87469700e-01 -1.57686146e-01 -6.21860572e-03 1.90883996e+01] [ 1.57682797e-01 9.87489280e-01 -1.02843213e-03 1.82882752e+00] [ 6.30297598e-03 3.49784304e-05 9.99980135e-01 6.62845245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421858064 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:19.12, Y:1.83, Z:0.07 [[ 9.87139253e-01 -1.59741746e-01 -6.21851618e-03 1.91163479e+01] [ 1.59738433e-01 9.87158839e-01 -1.02897328e-03 1.83153635e+00] [ 6.30303320e-03 2.24038828e-05 9.99980135e-01 6.50411041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.451858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:19.14, Y:1.83, Z:0.07 [[ 9.86811439e-01 -1.61754525e-01 -6.21748788e-03 1.91449938e+01] [ 1.61751213e-01 9.86831026e-01 -1.03518052e-03 1.83405415e+00] [ 6.30305508e-03 1.58417689e-05 9.99980135e-01 6.76084909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:19.17, Y:1.84, Z:0.07 [[ 9.86532713e-01 -1.63445834e-01 -6.21816673e-03 1.91735236e+01] [ 1.63442582e-01 9.86552309e-01 -1.03108661e-03 1.83580641e+00] [ 6.30307356e-03 8.87447680e-07 9.99980135e-01 6.83770827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.511858064 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:19.20, Y:1.83, Z:0.07 [[ 9.86272958e-01 -1.65006033e-01 -6.21787837e-03 1.92025244e+01] [ 1.65002801e-01 9.86292558e-01 -1.03282260e-03 1.83482856e+00] [ 6.30306912e-03 -7.32234577e-06 9.99980135e-01 6.98488020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541858064 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:19.23, Y:1.84, Z:0.07 [[ 9.86214217e-01 -1.65356783e-01 -6.21713839e-03 1.92316388e+01] [ 1.65353530e-01 9.86233813e-01 -1.03727139e-03 1.83833280e+00] [ 6.30307196e-03 -5.05398810e-06 9.99980135e-01 6.86103555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.571858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:19.26, Y:1.84, Z:0.07 [[ 9.85999573e-01 -1.66631783e-01 -6.22022530e-03 1.92576186e+01] [ 1.66628672e-01 9.86019192e-01 -1.01872365e-03 1.84334391e+00] [ 6.30301327e-03 -3.20068055e-05 9.99980135e-01 6.68487453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601858063999998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:19.28, Y:1.85, Z:0.07 [[ 9.86648390e-01 -1.62746242e-01 -6.21414080e-03 1.92842102e+01] [ 1.62742823e-01 9.86667958e-01 -1.05529185e-03 1.84636119e+00] [ 6.30303840e-03 2.98951865e-05 9.99980135e-01 6.58919310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.631858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:19.31, Y:1.85, Z:0.07 [[ 9.87578452e-01 -1.57003873e-01 -6.21160213e-03 1.93134858e+01] [ 1.57000245e-01 9.87597984e-01 -1.07048155e-03 1.84658771e+00] [ 6.30263549e-03 8.19614574e-05 9.99980135e-01 6.90607284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:19.34, Y:1.85, Z:0.07 [[ 9.88265869e-01 -1.52616942e-01 -6.21618354e-03 1.93410321e+01] [ 1.52613399e-01 9.88285415e-01 -1.04306807e-03 1.85180122e+00] [ 6.30255339e-03 8.21556688e-05 9.99980135e-01 6.82680699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.691858063999998 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:19.37, Y:1.86, Z:0.07 [[ 9.88677321e-01 -1.49928373e-01 -6.21598391e-03 1.93690189e+01] [ 1.49924770e-01 9.88696856e-01 -1.04426100e-03 1.85568177e+00] [ 6.30228810e-03 1.00507212e-04 9.99980135e-01 7.02478392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.721858064 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:19.40, Y:1.86, Z:0.07 [[ 9.88636881e-01 -1.50194782e-01 -6.21654172e-03 1.93972055e+01] [ 1.50191205e-01 9.88656421e-01 -1.04092973e-03 1.86048949e+00] [ 6.30236610e-03 9.54316238e-05 9.99980135e-01 7.04294707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.751858064 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:19.43, Y:1.86, Z:0.07 [[ 9.88573401e-01 -1.50612050e-01 -6.21626074e-03 1.94277501e+01] [ 1.50608471e-01 9.88592940e-01 -1.04260496e-03 1.86460483e+00] [ 6.30238036e-03 9.44700105e-05 9.99980135e-01 6.74953845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.781858063999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:19.46, Y:1.87, Z:0.07 [[ 9.88728123e-01 -1.49592738e-01 -6.22188775e-03 1.94569470e+01] [ 1.49589350e-01 9.88747697e-01 -1.00907793e-03 1.86581970e+00] [ 6.30282791e-03 6.69755854e-05 9.99980135e-01 7.06489068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.811858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:19.48, Y:1.87, Z:0.07 [[ 9.88977493e-01 -1.47935130e-01 -6.22210815e-03 1.94823700e+01] [ 1.47931717e-01 9.88997063e-01 -1.00777043e-03 1.86873938e+00] [ 6.30273134e-03 7.62151343e-05 9.99980135e-01 7.34308314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:19.51, Y:1.87, Z:0.07 [[ 9.89080290e-01 -1.47246574e-01 -6.21497744e-03 1.95096313e+01] [ 1.47242882e-01 9.89099809e-01 -1.04997817e-03 1.87262284e+00] [ 6.30183869e-03 1.23401526e-04 9.99980136e-01 7.35967042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.871858063999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:19.54, Y:1.88, Z:0.07 [[ 9.89193772e-01 -1.46482271e-01 -6.21488792e-03 1.95373872e+01] [ 1.46478560e-01 9.89213287e-01 -1.05050779e-03 1.87675749e+00] [ 6.30173048e-03 1.28807925e-04 9.99980136e-01 7.40747398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:19.57, Y:1.88, Z:0.07 [[ 9.89102489e-01 -1.47097389e-01 -6.21480201e-03 1.95693290e+01] [ 1.47093688e-01 9.89122006e-01 -1.05101577e-03 1.88179275e+00] [ 6.30179911e-03 1.25404169e-04 9.99980136e-01 7.47200633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.931858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:19.59, Y:1.89, Z:0.07 [[ 9.89445572e-01 -1.44771288e-01 -6.22376871e-03 1.95926962e+01] [ 1.44767874e-01 9.89465142e-01 -9.97931367e-04 1.88576419e+00] [ 6.30267400e-03 8.63970081e-05 9.99980134e-01 7.43238060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:19.62, Y:1.89, Z:0.07 [[ 9.89451821e-01 -1.44728968e-01 -6.21441822e-03 1.96201370e+01] [ 1.44725207e-01 9.89471326e-01 -1.05310886e-03 1.89048424e+00] [ 6.30140400e-03 1.42617514e-04 9.99980136e-01 7.38391251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.991858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:19.65, Y:1.89, Z:0.07 [[ 9.89451496e-01 -1.44731203e-01 -6.21413529e-03 1.96467829e+01] [ 1.44727432e-01 9.89470999e-01 -1.05477573e-03 1.89332212e+00] [ 6.30136561e-03 1.44293579e-04 9.99980136e-01 7.11340247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021858064 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:19.67, Y:1.90, Z:0.07 [[ 9.89369266e-01 -1.45292264e-01 -6.21401318e-03 1.96746794e+01] [ 1.45288498e-01 9.89388770e-01 -1.05549464e-03 1.89706186e+00] [ 6.30143006e-03 1.41449315e-04 9.99980136e-01 7.23106973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.051858064 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:19.71, Y:1.90, Z:0.07 [[ 9.88815253e-01 -1.49016056e-01 -6.21373197e-03 1.97087396e+01] [ 1.49012354e-01 9.88834769e-01 -1.05714754e-03 1.90306075e+00] [ 6.30188617e-03 1.19400781e-04 9.99980136e-01 7.19355066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:19.73, Y:1.90, Z:0.07 [[ 9.89198436e-01 -1.46450137e-01 -6.22990385e-03 1.97319380e+01] [ 1.46446984e-01 9.89218053e-01 -9.61862533e-04 1.90428115e+00] [ 6.30359825e-03 3.91222859e-05 9.99980131e-01 7.34519336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.111858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:19.75, Y:1.91, Z:0.07 [[ 9.88076763e-01 -1.53836617e-01 -6.21337351e-03 1.97502252e+01] [ 1.53833000e-01 9.88096294e-01 -1.05886224e-03 1.91444043e+00] [ 6.30230313e-03 9.04152930e-05 9.99980136e-01 6.95013701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.79, Y:1.91, Z:0.07 [[ 9.88948639e-01 -1.48129322e-01 -6.18813821e-03 1.97881692e+01] [ 1.48124668e-01 9.88967961e-01 -1.20618901e-03 1.91159070e+00] [ 6.29854239e-03 2.76243058e-04 9.99980126e-01 7.46627898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.171858064 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:19.82, Y:1.91, Z:0.07 [[ 9.88659158e-01 -1.50048214e-01 -6.21314618e-03 1.98157827e+01] [ 1.50044517e-01 9.88678674e-01 -1.05954303e-03 1.91406696e+00] [ 6.30178767e-03 1.15278399e-04 9.99980137e-01 7.40640490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201858064 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:19.83, Y:1.92, Z:0.07 [[ 9.87595191e-01 -1.56898500e-01 -6.21284749e-03 1.98349612e+01] [ 1.56894928e-01 9.87614730e-01 -1.06129160e-03 1.92415136e+00] [ 6.30241476e-03 7.33622183e-05 9.99980137e-01 6.85066642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.231858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:19.87, Y:1.92, Z:0.07 [[ 9.88349515e-01 -1.52075335e-01 -6.19100618e-03 1.98725349e+01] [ 1.52070869e-01 9.88368877e-01 -1.18856196e-03 1.92120628e+00] [ 6.29974879e-03 2.33242942e-04 9.99980129e-01 6.89271774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.261858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:19.90, Y:1.92, Z:0.07 [[ 9.88208461e-01 -1.52988372e-01 -6.21255089e-03 1.99000163e+01] [ 1.52984714e-01 9.88227984e-01 -1.06259992e-03 1.92493220e+00] [ 6.30198207e-03 9.96449087e-05 9.99980137e-01 6.68061830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.291858064 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:19.93, Y:1.93, Z:0.07 [[ 9.88013997e-01 -1.54239252e-01 -6.21241985e-03 1.99273138e+01] [ 1.54235614e-01 9.88033524e-01 -1.06336548e-03 1.92901999e+00] [ 6.30209177e-03 9.24435875e-05 9.99980137e-01 7.06160687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321858064 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:19.96, Y:1.93, Z:0.07 [[ 9.87780822e-01 -1.55725585e-01 -6.21211550e-03 1.99552810e+01] [ 1.55721965e-01 9.87800352e-01 -1.06514052e-03 1.93407729e+00] [ 6.30219951e-03 8.47625399e-05 9.99980137e-01 7.09628113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.351858063999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:19.98, Y:1.94, Z:0.07 [[ 9.86582223e-01 -1.63146957e-01 -6.21181843e-03 1.99777122e+01] [ 1.63143474e-01 9.86601778e-01 -1.06687020e-03 1.94381059e+00] [ 6.30264774e-03 3.91375375e-05 9.99980137e-01 7.21076849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:20.01, Y:1.94, Z:0.07 [[ 9.87050614e-01 -1.60289439e-01 -6.19523732e-03 2.00122108e+01] [ 1.60285294e-01 9.87070044e-01 -1.16306010e-03 1.94379315e+00] [ 6.30155942e-03 1.54993749e-04 9.99980133e-01 7.45102094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.411858064 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:20.04, Y:1.95, Z:0.08 [[ 9.86178051e-01 -1.65572542e-01 -6.21163523e-03 2.00362701e+01] [ 1.65569101e-01 9.86197613e-01 -1.06765709e-03 1.95122015e+00] [ 6.30267454e-03 2.44451279e-05 9.99980138e-01 7.60595954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441858063999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:20.07, Y:1.95, Z:0.08 [[ 9.86025806e-01 -1.66477285e-01 -6.19867674e-03 2.00692921e+01] [ 1.66473390e-01 9.86045285e-01 -1.14281610e-03 1.95072657e+00] [ 6.30242889e-03 9.49314384e-05 9.99980135e-01 7.88065235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.471858064 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:20.09, Y:1.96, Z:0.08 [[ 9.85146921e-01 -1.71601173e-01 -6.21136222e-03 2.00939316e+01] [ 1.71597843e-01 9.85166502e-01 -1.06911593e-03 1.95750547e+00] [ 6.30268754e-03 -1.26200884e-05 9.99980138e-01 7.87554134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.12, Y:1.96, Z:0.08 [[ 9.85055522e-01 -1.72125409e-01 -6.20172381e-03 2.01249578e+01] [ 1.72121738e-01 9.85075044e-01 -1.12496418e-03 1.95996553e+00] [ 6.30279827e-03 4.07006979e-05 9.99980136e-01 7.81611553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.531858063999998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:20.15, Y:1.97, Z:0.08 [[ 9.83995624e-01 -1.78084347e-01 -6.21105406e-03 2.01521286e+01] [ 1.78081136e-01 9.84015225e-01 -1.07084754e-03 1.96607782e+00] [ 6.30247295e-03 -5.23622652e-05 9.99980138e-01 7.62099837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561858064 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:20.18, Y:1.97, Z:0.08 [[ 9.83320638e-01 -1.81774448e-01 -6.21075634e-03 2.01792024e+01] [ 1.81771299e-01 9.83340249e-01 -1.07257150e-03 1.97187936e+00] [ 6.30225278e-03 -7.42555510e-05 9.99980138e-01 7.57738768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.591858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:20.21, Y:1.98, Z:0.08 [[ 9.82720664e-01 -1.84990615e-01 -6.21045972e-03 2.02065822e+01] [ 1.84987519e-01 9.82740283e-01 -1.07428629e-03 1.97692188e+00] [ 6.30200182e-03 -9.31341959e-05 9.99980138e-01 7.59621913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.621858063999998 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:20.23, Y:1.98, Z:0.08 [[ 9.81422120e-01 -1.91760413e-01 -6.21016489e-03 2.02339237e+01] [ 1.91757442e-01 9.81441759e-01 -1.07598795e-03 1.98311529e+00] [ 6.30124704e-03 -1.34846956e-04 9.99980138e-01 7.68941469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.26, Y:1.99, Z:0.08 [[ 9.80824087e-01 -1.94796168e-01 -6.20986527e-03 2.02610483e+01] [ 1.94793247e-01 9.80843734e-01 -1.07771437e-03 1.98851262e+00] [ 6.30084206e-03 -1.52591601e-04 9.99980138e-01 7.74527971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681858064 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:20.29, Y:1.99, Z:0.08 [[ 9.80191407e-01 -1.97955166e-01 -6.20956676e-03 2.02890395e+01] [ 1.97952297e-01 9.80211060e-01 -1.07943159e-03 1.99416702e+00] [ 6.30036508e-03 -1.71148427e-04 9.99980138e-01 7.86226472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.711858064 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:20.32, Y:2.00, Z:0.08 [[ 9.79226220e-01 -2.02675739e-01 -6.20926516e-03 2.03167497e+01] [ 2.02672953e-01 9.79245886e-01 -1.08116371e-03 2.00137248e+00] [ 6.29952301e-03 -1.99746252e-04 9.99980138e-01 8.11327570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741858064 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:20.34, Y:2.01, Z:0.08 [[ 9.78937742e-01 -2.04064563e-01 -6.20898555e-03 2.03433877e+01] [ 2.04061795e-01 9.78957410e-01 -1.08276723e-03 2.00825952e+00] [ 6.29928684e-03 -2.07055027e-04 9.99980138e-01 8.04363183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.771858064 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:20.37, Y:2.02, Z:0.08 [[ 9.77853986e-01 -2.09196147e-01 -6.20914816e-03 2.03654135e+01] [ 2.09193489e-01 9.77873670e-01 -1.08183534e-03 2.02020639e+00] [ 6.29807829e-03 -2.41036369e-04 9.99980138e-01 7.52578575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801858064 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:20.39, Y:2.03, Z:0.08 [[ 9.77933328e-01 -2.08825341e-01 -6.19546385e-03 2.03920853e+01] [ 2.08822178e-01 9.77952939e-01 -1.16023685e-03 2.03048702e+00] [ 6.30115894e-03 -1.59115971e-04 9.99980135e-01 7.55323585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.831858064 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:20.42, Y:2.04, Z:0.08 [[ 9.78501825e-01 -2.06144989e-01 -6.19860497e-03 2.04208029e+01] [ 2.06141887e-01 9.78521445e-01 -1.14218663e-03 2.03699983e+00] [ 6.30092394e-03 -1.60160420e-04 9.99980136e-01 7.71278258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:20.45, Y:2.04, Z:0.08 [[ 9.78862473e-01 -2.04425491e-01 -6.20299186e-03 2.04490738e+01] [ 2.04422514e-01 9.78882112e-01 -1.11696641e-03 2.04442195e+00] [ 6.30033418e-03 -1.74674690e-04 9.99980137e-01 7.76254868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.891858064 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:20.48, Y:2.05, Z:0.08 [[ 9.79722614e-01 -2.00262578e-01 -6.20475534e-03 2.04755552e+01] [ 2.00259581e-01 9.79742249e-01 -1.10682756e-03 2.05479722e+00] [ 6.30071709e-03 -1.58177713e-04 9.99980138e-01 7.90502383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.921858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:20.50, Y:2.06, Z:0.08 [[ 9.80343920e-01 -1.97198638e-01 -6.20451594e-03 2.05037622e+01] [ 1.97195572e-01 9.80363544e-01 -1.10820217e-03 2.06206449e+00] [ 6.30121719e-03 -1.37083812e-04 9.99980138e-01 8.06318993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.951858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:20.53, Y:2.07, Z:0.08 [[ 9.81241979e-01 -1.92680174e-01 -6.20724319e-03 2.05291694e+01] [ 1.92677116e-01 9.81261604e-01 -1.09255277e-03 2.07367171e+00] [ 6.30144267e-03 -1.23935080e-04 9.99980138e-01 8.11218775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.981858064 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:20.56, Y:2.08, Z:0.08 [[ 9.81591300e-01 -1.90892653e-01 -6.20599134e-03 2.05559704e+01] [ 1.90889514e-01 9.81610913e-01 -1.09972503e-03 2.08181251e+00] [ 6.30179825e-03 -1.05178146e-04 9.99980138e-01 8.20330959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.011858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:20.58, Y:2.09, Z:0.09 [[ 9.82343573e-01 -1.86982885e-01 -6.20522136e-03 2.05835934e+01] [ 1.86979641e-01 9.82363169e-01 -1.10412984e-03 2.08758905e+00] [ 6.30223430e-03 -7.56152088e-05 9.99980138e-01 8.57261137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.041858064 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:20.61, Y:2.09, Z:0.09 [[ 9.82660265e-01 -1.85311268e-01 -6.20790455e-03 2.06114880e+01] [ 1.85308087e-01 9.82679870e-01 -1.08879352e-03 2.09446650e+00] [ 6.30214854e-03 -8.04607881e-05 9.99980138e-01 8.68956323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.071858064 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:20.64, Y:2.10, Z:0.09 [[ 9.83267457e-01 -1.82061981e-01 -6.20824042e-03 2.06351286e+01] [ 1.82058747e-01 9.83287054e-01 -1.08687503e-03 2.10308941e+00] [ 6.30236105e-03 -6.15756316e-05 9.99980138e-01 8.51093867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.101858063999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:20.66, Y:2.11, Z:0.09 [[ 9.83478455e-01 -1.80918974e-01 -6.20108714e-03 2.06640002e+01] [ 1.80915461e-01 9.83498004e-01 -1.12760227e-03 2.10987976e+00] [ 6.30276148e-03 -1.28999997e-05 9.99980137e-01 8.67071611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.131858064 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:20.69, Y:2.12, Z:0.09 [[ 9.83835553e-01 -1.78966666e-01 -6.20778286e-03 2.06916170e+01] [ 1.78963354e-01 9.83855137e-01 -1.08944950e-03 2.11721650e+00] [ 6.30253420e-03 -3.91264904e-05 9.99980138e-01 8.72101592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.161858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:20.72, Y:2.13, Z:0.08 [[ 9.84454363e-01 -1.75530882e-01 -6.20611502e-03 2.07195692e+01] [ 1.75527442e-01 9.84473925e-01 -1.09894368e-03 2.12635828e+00] [ 6.30265697e-03 -7.48359532e-06 9.99980138e-01 8.49980710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.191858063999998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:20.75, Y:2.13, Z:0.08 [[ 9.84771482e-01 -1.73742905e-01 -6.20739007e-03 2.07466300e+01] [ 1.73739475e-01 9.84791045e-01 -1.09169374e-03 2.13282064e+00] [ 6.30265619e-03 -3.39982471e-06 9.99980138e-01 8.46265746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221858064 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:20.77, Y:2.14, Z:0.09 [[ 9.85065716e-01 -1.72066868e-01 -6.20708031e-03 2.07740052e+01] [ 1.72063394e-01 9.85085272e-01 -1.09345207e-03 2.13929226e+00] [ 6.30265027e-03 9.11084173e-06 9.99980138e-01 8.51368586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.251858064 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:20.80, Y:2.15, Z:0.09 [[ 9.85613810e-01 -1.68899025e-01 -6.20776864e-03 2.08013958e+01] [ 1.68895513e-01 9.85633359e-01 -1.08954882e-03 2.14701111e+00] [ 6.30260759e-03 2.54100974e-05 9.99980138e-01 8.50949021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281858063999998 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:20.83, Y:2.15, Z:0.09 [[ 9.85806800e-01 -1.67768981e-01 -6.20664863e-03 2.08278903e+01] [ 1.67765406e-01 9.85826337e-01 -1.09589211e-03 2.15279404e+00] [ 6.30253438e-03 3.90769648e-05 9.99980138e-01 8.66451223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.311858064 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:20.86, Y:2.16, Z:0.09 [[ 9.85838883e-01 -1.67580418e-01 -6.20479258e-03 2.08564943e+01] [ 1.67576774e-01 9.85858408e-01 -1.10639066e-03 2.15811545e+00] [ 6.30245635e-03 5.09438105e-05 9.99980138e-01 8.65318142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.341858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:20.88, Y:2.16, Z:0.09 [[ 9.85830266e-01 -1.67631053e-01 -6.20619081e-03 2.08844656e+01] [ 1.67627460e-01 9.85849800e-01 -1.09849103e-03 2.16367206e+00] [ 6.30251318e-03 4.25977049e-05 9.99980138e-01 8.56155686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.371858063999998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:20.91, Y:2.17, Z:0.09 [[ 9.85800816e-01 -1.67804165e-01 -6.20588199e-03 2.09116976e+01] [ 1.67800563e-01 9.85820349e-01 -1.10023295e-03 2.16896076e+00] [ 6.30250842e-03 4.32600513e-05 9.99980138e-01 8.52697698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:20.94, Y:2.17, Z:0.09 [[ 9.85896875e-01 -1.67238880e-01 -6.20557199e-03 2.09386217e+01] [ 1.67235256e-01 9.85916404e-01 -1.10197861e-03 2.17437434e+00] [ 6.30246889e-03 4.86468509e-05 9.99980138e-01 8.51834002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.431858064 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:20.97, Y:2.18, Z:0.09 [[ 9.85747886e-01 -1.68114976e-01 -6.20170048e-03 2.09679853e+01] [ 1.68111233e-01 9.85767392e-01 -1.12373166e-03 2.18084538e+00] [ 6.30235023e-03 6.51405968e-05 9.99980138e-01 8.55163019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461858064 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:21.00, Y:2.19, Z:0.09 [[ 9.85696799e-01 -1.68414129e-01 -6.20499803e-03 2.09951666e+01] [ 1.68410508e-01 9.85716328e-01 -1.10521830e-03 2.18697126e+00] [ 6.30250225e-03 4.44232671e-05 9.99980138e-01 8.53254479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.491858064 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:21.02, Y:2.20, Z:0.08 [[ 9.84988294e-01 -1.72509596e-01 -6.20490055e-03 2.10178955e+01] [ 1.72506053e-01 9.85007837e-01 -1.10576531e-03 2.19708204e+00] [ 6.30263080e-03 1.87829804e-05 9.99980138e-01 8.19708214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521858064 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:21.05, Y:2.20, Z:0.09 [[ 9.85600619e-01 -1.68976652e-01 -6.18966089e-03 2.10505424e+01] [ 1.68972503e-01 9.85620046e-01 -1.19096591e-03 2.19875747e+00] [ 6.30189928e-03 1.27934244e-04 9.99980135e-01 8.72952392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.551858064 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:21.08, Y:2.20, Z:0.09 [[ 9.85416455e-01 -1.70046799e-01 -6.20456203e-03 2.10785215e+01] [ 1.70043197e-01 9.85435987e-01 -1.10748397e-03 2.20384309e+00] [ 6.30252281e-03 3.62893646e-05 9.99980138e-01 8.79619337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581858064 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:21.11, Y:2.21, Z:0.09 [[ 9.85170719e-01 -1.71464756e-01 -6.20425399e-03 2.11057420e+01] [ 1.71461170e-01 9.85190254e-01 -1.10920696e-03 2.20889488e+00] [ 6.30256046e-03 2.89695711e-05 9.99980138e-01 8.83687980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.611858064 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:21.13, Y:2.21, Z:0.09 [[ 9.84569652e-01 -1.74883138e-01 -6.20394356e-03 2.11329122e+01] [ 1.74879610e-01 9.84589198e-01 -1.11094052e-03 2.21391893e+00] [ 6.30262058e-03 8.85509556e-06 9.99980138e-01 8.92835284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641858064 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:21.16, Y:2.22, Z:0.09 [[ 9.84520237e-01 -1.75161122e-01 -6.20362948e-03 2.11610373e+01] [ 1.75157588e-01 9.84539781e-01 -1.11269163e-03 2.21903363e+00] [ 6.30262033e-03 8.85465561e-06 9.99980138e-01 8.94630502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.671858064 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:21.19, Y:2.22, Z:0.09 [[ 9.84146028e-01 -1.77251555e-01 -6.20331482e-03 2.11891074e+01] [ 1.77248052e-01 9.84165579e-01 -1.11444309e-03 2.22388158e+00] [ 6.30262569e-03 -2.75072650e-06 9.99980138e-01 9.00317552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:21.22, Y:2.23, Z:0.09 [[ 9.83538309e-01 -1.80593239e-01 -6.20299983e-03 2.12152635e+01] [ 1.80589791e-01 9.83557869e-01 -1.11619359e-03 2.22850928e+00] [ 6.30258631e-03 -2.23792868e-05 9.99980138e-01 9.16843272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.731858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:21.24, Y:2.23, Z:0.09 [[ 9.83318093e-01 -1.81788484e-01 -6.20286339e-03 2.12428709e+01] [ 1.81785055e-01 9.83337656e-01 -1.11695133e-03 2.23453809e+00] [ 6.30255803e-03 -2.92694081e-05 9.99980138e-01 9.20509865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761858064 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:21.26, Y:2.25, Z:0.09 [[ 9.82174477e-01 -1.87869169e-01 -6.20254408e-03 2.12627793e+01] [ 1.87865850e-01 9.82194060e-01 -1.11872166e-03 2.24699043e+00] [ 6.30227526e-03 -6.64663560e-05 9.99980138e-01 8.79117914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.791858064 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:21.30, Y:2.25, Z:0.09 [[ 9.83146169e-01 -1.82716733e-01 -6.18114334e-03 2.12990522e+01] [ 1.82712567e-01 9.83165595e-01 -1.23674009e-03 2.24768061e+00] [ 6.30306058e-03 8.65237136e-05 9.99980132e-01 9.18922070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821858064 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:21.32, Y:2.26, Z:0.09 [[ 9.82864788e-01 -1.84223558e-01 -6.20397555e-03 2.13242164e+01] [ 1.84220219e-01 9.82884366e-01 -1.11049044e-03 2.25509762e+00] [ 6.30236908e-03 -5.14357819e-05 9.99980139e-01 8.86195158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.851858063999998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:21.35, Y:2.26, Z:0.09 [[ 9.83398556e-01 -1.81352991e-01 -6.19450729e-03 2.13539015e+01] [ 1.81349265e-01 9.83418066e-01 -1.16277247e-03 2.25956508e+00] [ 6.30266264e-03 2.00994225e-05 9.99980138e-01 9.09317944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881858064 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:21.38, Y:2.27, Z:0.09 [[ 9.83392340e-01 -1.81386446e-01 -6.20175513e-03 2.13810615e+01] [ 1.81382973e-01 9.83411896e-01 -1.12273695e-03 2.26575854e+00] [ 6.30252904e-03 -2.08018648e-05 9.99980139e-01 9.07624765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.911858064 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:21.41, Y:2.27, Z:0.09 [[ 9.83399059e-01 -1.81350030e-01 -6.20143043e-03 2.14074871e+01] [ 1.81346544e-01 9.83418612e-01 -1.12452758e-03 2.27167943e+00] [ 6.30253522e-03 -1.87486110e-05 9.99980139e-01 9.05643314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941858063999998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:21.43, Y:2.28, Z:0.09 [[ 9.83436708e-01 -1.81145759e-01 -6.20120981e-03 2.14335169e+01] [ 1.81142262e-01 9.83456259e-01 -1.12574288e-03 2.27754695e+00] [ 6.30254215e-03 -1.62043023e-05 9.99980139e-01 9.04733064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.971858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:21.46, Y:2.28, Z:0.09 [[ 9.83604903e-01 -1.80230247e-01 -6.20107257e-03 2.14606612e+01] [ 1.80226727e-01 9.83624450e-01 -1.12649838e-03 2.28340141e+00] [ 6.30255567e-03 -9.56967936e-06 9.99980139e-01 9.28286821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001858064 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:21.49, Y:2.29, Z:0.09 [[ 9.83734616e-01 -1.79520909e-01 -6.20075390e-03 2.14875557e+01] [ 1.79517364e-01 9.83754158e-01 -1.12824974e-03 2.28838861e+00] [ 6.30256185e-03 -3.24466483e-06 9.99980139e-01 9.42987529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.031858063999998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:21.51, Y:2.30, Z:0.09 [[ 9.83305627e-01 -1.81855975e-01 -6.20061578e-03 2.15124974e+01] [ 1.81852472e-01 9.83325177e-01 -1.12900830e-03 2.29671004e+00] [ 6.30253852e-03 -1.74370950e-05 9.99980139e-01 9.13583056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061858064 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:21.54, Y:2.30, Z:0.09 [[ 9.83624362e-01 -1.80124349e-01 -6.19144819e-03 2.15393253e+01] [ 1.80120494e-01 9.83643847e-01 -1.17927973e-03 2.30466426e+00] [ 6.30259691e-03 4.47615701e-05 9.99980137e-01 9.02685257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.091858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:21.57, Y:2.31, Z:0.09 [[ 9.84495745e-01 -1.75299217e-01 -6.18975399e-03 2.15712301e+01] [ 1.75295209e-01 9.84515199e-01 -1.18856195e-03 2.30805304e+00] [ 6.30226086e-03 8.50999644e-05 9.99980137e-01 9.41685390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.121858063999998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:21.60, Y:2.31, Z:0.09 [[ 9.84690083e-01 -1.74203893e-01 -6.20032355e-03 2.15976531e+01] [ 1.74200227e-01 9.84709603e-01 -1.13059734e-03 2.31416347e+00] [ 6.30247260e-03 3.31902227e-05 9.99980139e-01 9.32047660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.151858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:21.63, Y:2.32, Z:0.09 [[ 9.84961790e-01 -1.72661024e-01 -6.20018545e-03 2.16254892e+01] [ 1.72657323e-01 9.84981304e-01 -1.13135413e-03 2.32052114e+00] [ 6.30240752e-03 4.38331725e-05 9.99980139e-01 9.32814944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:21.65, Y:2.33, Z:0.09 [[ 9.84116489e-01 -1.77415608e-01 -6.19985937e-03 2.16483575e+01] [ 1.77411990e-01 9.84136018e-01 -1.13313829e-03 2.33091368e+00] [ 6.30254133e-03 1.52106873e-05 9.99980139e-01 8.65430912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.211858064 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:21.68, Y:2.33, Z:0.09 [[ 9.84947942e-01 -1.72740553e-01 -6.18483429e-03 2.16816393e+01] [ 1.72736327e-01 9.84967352e-01 -1.21507236e-03 2.33249773e+00] [ 6.30175212e-03 1.28437461e-04 9.99980136e-01 9.31281237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241858064 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:21.71, Y:2.34, Z:0.09 [[ 9.84612101e-01 -1.74644142e-01 -6.19948377e-03 2.17093387e+01] [ 1.74640457e-01 9.84631618e-01 -1.13505974e-03 2.33837536e+00] [ 6.30243927e-03 3.49128836e-05 9.99980139e-01 9.36638139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.271858064 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:21.74, Y:2.34, Z:0.09 [[ 9.84286908e-01 -1.76467712e-01 -6.19916581e-03 2.17371563e+01] [ 1.76464052e-01 9.84306429e-01 -1.13679366e-03 2.34371575e+00] [ 6.30248613e-03 2.50012028e-05 9.99980139e-01 9.40062965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:21.77, Y:2.35, Z:0.09 [[ 9.83942646e-01 -1.78377250e-01 -6.19884196e-03 2.17650387e+01] [ 1.78373617e-01 9.83962172e-01 -1.13855681e-03 2.34895231e+00] [ 6.30251864e-03 1.45647365e-05 9.99980139e-01 9.40349760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.331858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:21.79, Y:2.36, Z:0.09 [[ 9.82563113e-01 -1.85826011e-01 -6.19851426e-03 2.17909116e+01] [ 1.85822515e-01 9.82582664e-01 -1.14033813e-03 2.35605347e+00] [ 6.30245714e-03 -3.13693256e-05 9.99980139e-01 8.76142720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:21.82, Y:2.36, Z:0.09 [[ 9.82613951e-01 -1.85557184e-01 -6.19313647e-03 2.18197900e+01] [ 1.85553498e-01 9.82633468e-01 -1.16951138e-03 2.35760451e+00] [ 6.30259440e-03 2.00661972e-08 9.99980138e-01 9.40420349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.391858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:21.85, Y:2.36, Z:0.09 [[ 9.82126975e-01 -1.88117485e-01 -6.19805247e-03 2.18476967e+01] [ 1.88114019e-01 9.82146532e-01 -1.14285029e-03 2.36249708e+00] [ 6.30238586e-03 -4.35164553e-05 9.99980139e-01 9.43626222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421858064 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:21.87, Y:2.37, Z:0.09 [[ 9.80681205e-01 -1.95514611e-01 -6.19773005e-03 2.18723610e+01] [ 1.95511281e-01 9.80700785e-01 -1.14459609e-03 2.37223338e+00] [ 6.30190399e-03 -8.92422676e-05 9.99980139e-01 8.52414270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.451858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:21.90, Y:2.37, Z:0.09 [[ 9.81188295e-01 -1.92953931e-01 -6.18947287e-03 2.19046733e+01] [ 1.92950268e-01 9.81207817e-01 -1.18923598e-03 2.37376485e+00] [ 6.30262692e-03 -2.73960285e-05 9.99980138e-01 9.38058258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:21.93, Y:2.38, Z:0.09 [[ 9.80943406e-01 -1.94194810e-01 -6.19756621e-03 2.19322423e+01] [ 1.94191449e-01 9.80962981e-01 -1.14544606e-03 2.37794914e+00] [ 6.30202270e-03 -7.98966041e-05 9.99980139e-01 9.38454864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.511858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:21.96, Y:2.38, Z:0.09 [[ 9.80766597e-01 -1.95085816e-01 -6.19723533e-03 2.19585925e+01] [ 1.95082461e-01 9.80786173e-01 -1.14723347e-03 2.38206735e+00] [ 6.30197170e-03 -8.38036527e-05 9.99980139e-01 9.31720124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541858064 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:21.99, Y:2.39, Z:0.09 [[ 9.80706410e-01 -1.95388159e-01 -6.19709215e-03 2.19858094e+01] [ 1.95384805e-01 9.80725986e-01 -1.14800635e-03 2.38779502e+00] [ 6.30195616e-03 -8.49604523e-05 9.99980139e-01 9.30946718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.571858064 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:22.01, Y:2.39, Z:0.09 [[ 9.80683426e-01 -1.95503501e-01 -6.19676970e-03 2.20131335e+01] [ 1.95500138e-01 9.80703000e-01 -1.14974424e-03 2.39361888e+00] [ 6.30196966e-03 -8.39342087e-05 9.99980139e-01 9.32229179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.601858063999998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:22.04, Y:2.40, Z:0.09 [[ 9.80952097e-01 -1.94150940e-01 -6.19643841e-03 2.20399781e+01] [ 1.94147539e-01 9.80971665e-01 -1.15152696e-03 2.39776238e+00] [ 6.30210054e-03 -7.34304774e-05 9.99980139e-01 9.32311630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.631858064 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:22.07, Y:2.40, Z:0.09 [[ 9.81107858e-01 -1.93362299e-01 -6.19621306e-03 2.20674549e+01] [ 1.93358874e-01 9.81127421e-01 -1.15273828e-03 2.40211196e+00] [ 6.30217066e-03 -6.71321952e-05 9.99980139e-01 9.41936899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.661858064 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:22.09, Y:2.41, Z:0.09 [[ 9.81275286e-01 -1.92510844e-01 -6.19588805e-03 2.20946538e+01] [ 1.92507391e-01 9.81294844e-01 -1.15448250e-03 2.40673161e+00] [ 6.30224340e-03 -5.98890956e-05 9.99980139e-01 9.44779490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.691858063999998 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:22.12, Y:2.41, Z:0.09 [[ 9.81688395e-01 -1.90393041e-01 -6.19556387e-03 2.21217702e+01] [ 1.90389535e-01 9.81707944e-01 -1.15621963e-03 2.41236976e+00] [ 6.30237044e-03 -4.45231293e-05 9.99980139e-01 9.42642622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721858064 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:22.15, Y:2.42, Z:0.09 [[ 9.81842311e-01 -1.89597722e-01 -6.19523857e-03 2.21496286e+01] [ 1.89594189e-01 9.81861855e-01 -1.15796005e-03 2.41827034e+00] [ 6.30241502e-03 -3.76470635e-05 9.99980139e-01 9.38879607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.751858064 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:22.18, Y:2.42, Z:0.09 [[ 9.82207064e-01 -1.87698978e-01 -6.19491365e-03 2.21770796e+01] [ 1.87695397e-01 9.82226600e-01 -1.15969572e-03 2.42363871e+00] [ 6.30248267e-03 -2.36954537e-05 9.99980139e-01 9.34663108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781858063999998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:22.21, Y:2.43, Z:0.09 [[ 9.82272188e-01 -1.87357876e-01 -6.19481307e-03 2.22050783e+01] [ 1.87354284e-01 9.82291721e-01 -1.16023271e-03 2.42785620e+00] [ 6.30249233e-03 -2.09604495e-05 9.99980139e-01 9.46550216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.811858064 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:22.22, Y:2.44, Z:0.09 [[ 9.80832296e-01 -1.94755314e-01 -6.19471339e-03 2.22243558e+01] [ 1.94751867e-01 9.80851856e-01 -1.16076471e-03 2.43874574e+00] [ 6.30216122e-03 -6.79164814e-05 9.99980139e-01 8.73423308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:22.26, Y:2.44, Z:0.10 [[ 9.82349732e-01 -1.86951656e-01 -6.17112505e-03 2.22624066e+01] [ 1.86947264e-01 9.82369109e-01 -1.28629387e-03 2.43546348e+00] [ 6.30279738e-03 1.09915500e-04 9.99980131e-01 9.75768135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.871858063999998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:22.28, Y:2.45, Z:0.09 [[ 9.80908389e-01 -1.94371698e-01 -6.19481706e-03 2.22829075e+01] [ 1.94368249e-01 9.80927948e-01 -1.15974220e-03 2.44567610e+00] [ 6.30209024e-03 -6.64748967e-05 9.99980139e-01 9.11199692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901858064 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:22.32, Y:2.44, Z:0.10 [[ 9.82438815e-01 -1.86482887e-01 -6.17321117e-03 2.23186421e+01] [ 1.86478558e-01 9.82458204e-01 -1.27473488e-03 2.44375085e+00] [ 6.30263820e-03 1.01177508e-04 9.99980133e-01 9.83762065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.931858064 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:22.34, Y:2.45, Z:0.09 [[ 9.81007218e-01 -1.93872291e-01 -6.19466676e-03 2.23388410e+01] [ 1.93868829e-01 9.81026774e-01 -1.16017455e-03 2.45463823e+00] [ 6.30205965e-03 -6.28131860e-05 9.99980140e-01 9.09291035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961858064 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:22.38, Y:2.45, Z:0.10 [[ 9.82903105e-01 -1.84020144e-01 -6.17038319e-03 2.23761922e+01] [ 1.84015673e-01 9.82922464e-01 -1.28944175e-03 2.44991193e+00] [ 6.30229150e-03 1.31949079e-04 9.99980132e-01 9.79249619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.991858064 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:22.40, Y:2.45, Z:0.10 [[ 9.83053527e-01 -1.83214054e-01 -6.19468373e-03 2.24029396e+01] [ 1.83210384e-01 9.83073044e-01 -1.15962979e-03 2.45316990e+00] [ 6.30228707e-03 5.04777217e-06 9.99980140e-01 9.87729769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:22.43, Y:2.46, Z:0.10 [[ 9.83262096e-01 -1.82091399e-01 -6.19454643e-03 2.24309317e+01] [ 1.82087702e-01 9.83281609e-01 -1.16036276e-03 2.45604710e+00] [ 6.30227566e-03 1.29899961e-05 9.99980140e-01 1.01208586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.051858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:22.46, Y:2.46, Z:0.10 [[ 9.83208703e-01 -1.82379479e-01 -6.19444973e-03 2.24585251e+01] [ 1.82375784e-01 9.83228216e-01 -1.16087875e-03 2.46118669e+00] [ 6.30227822e-03 1.16684611e-05 9.99980140e-01 1.02002539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081858064 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:22.49, Y:2.47, Z:0.10 [[ 9.83193068e-01 -1.82463761e-01 -6.19413930e-03 2.24863247e+01] [ 1.82460058e-01 9.83212579e-01 -1.16253273e-03 2.46646347e+00] [ 6.30227578e-03 1.28111089e-05 9.99980140e-01 1.01724514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.111858064 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:22.51, Y:2.47, Z:0.10 [[ 9.83133847e-01 -1.82782589e-01 -6.19383048e-03 2.25125753e+01] [ 1.82778882e-01 9.83153358e-01 -1.16417578e-03 2.47147139e+00] [ 6.30227630e-03 1.24392052e-05 9.99980140e-01 1.00256943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141858064 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:22.54, Y:2.48, Z:0.10 [[ 9.83084476e-01 -1.83047952e-01 -6.19362032e-03 2.25404347e+01] [ 1.83044243e-01 9.83103986e-01 -1.16529283e-03 2.47500933e+00] [ 6.30227729e-03 1.18747478e-05 9.99980140e-01 9.90525879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.171858064 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:22.57, Y:2.48, Z:0.10 [[ 9.82992325e-01 -1.83542181e-01 -6.19330468e-03 2.25685114e+01] [ 1.83538472e-01 9.83011835e-01 -1.16696795e-03 2.47964522e+00] [ 6.30227964e-03 1.04108638e-05 9.99980140e-01 9.97423581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:22.60, Y:2.48, Z:0.10 [[ 9.82940749e-01 -1.83818202e-01 -6.19296973e-03 2.25955654e+01] [ 1.83814486e-01 9.82960258e-01 -1.16874281e-03 2.48402363e+00] [ 6.30227932e-03 1.04473790e-05 9.99980140e-01 9.88260097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.231858064 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:22.62, Y:2.49, Z:0.10 [[ 9.82873388e-01 -1.84178049e-01 -6.19274214e-03 2.26235105e+01] [ 1.84174333e-01 9.82892897e-01 -1.16994749e-03 2.48853719e+00] [ 6.30228090e-03 9.36610026e-06 9.99980140e-01 9.89469596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261858064 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:22.63, Y:2.51, Z:0.09 [[ 9.80147232e-01 -1.98174312e-01 -6.19241378e-03 2.26329454e+01] [ 1.98170864e-01 9.80166790e-01 -1.17168289e-03 2.50528754e+00] [ 6.30179579e-03 -7.87342505e-05 9.99980140e-01 8.90212153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.291858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:22.68, Y:2.50, Z:0.10 [[ 9.82842974e-01 -1.84342094e-01 -6.13850484e-03 2.26807672e+01] [ 1.84336598e-01 9.82862098e-01 -1.45430737e-03 2.49764896e+00] [ 6.30139381e-03 2.97804683e-04 9.99980102e-01 1.00154101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.321858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:22.70, Y:2.51, Z:0.09 [[ 9.81206927e-01 -1.92859055e-01 -6.19289349e-03 2.26985768e+01] [ 1.92855533e-01 9.81226469e-01 -1.16654777e-03 2.50673753e+00] [ 6.30161031e-03 -4.97090239e-05 9.99980143e-01 9.32552803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.351858063999998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:22.74, Y:2.50, Z:0.10 [[ 9.82854510e-01 -1.84279817e-01 -6.16129715e-03 2.27371036e+01] [ 1.84275078e-01 9.82873806e-01 -1.33311683e-03 2.50335504e+00] [ 6.30144411e-03 1.74886374e-04 9.99980130e-01 9.94830600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:22.76, Y:2.51, Z:0.10 [[ 9.82821967e-01 -1.84452262e-01 -6.19220908e-03 2.27645549e+01] [ 1.84448555e-01 9.82841474e-01 -1.16943768e-03 2.50764823e+00] [ 6.30166533e-03 7.20502246e-06 9.99980144e-01 9.99446717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.411858064 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:22.79, Y:2.51, Z:0.10 [[ 9.82835304e-01 -1.84381197e-01 -6.19187330e-03 2.27916916e+01] [ 1.84377477e-01 9.82854808e-01 -1.17121287e-03 2.51212925e+00] [ 6.30166207e-03 9.46737715e-06 9.99980144e-01 9.76837867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441858063999998 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:22.82, Y:2.52, Z:0.10 [[ 9.82700287e-01 -1.85099455e-01 -6.19176939e-03 2.28194219e+01] [ 1.85095746e-01 9.82719793e-01 -1.17176196e-03 2.51650532e+00] [ 6.30166683e-03 5.42064008e-06 9.99980144e-01 9.85922618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.471858064 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:22.85, Y:2.52, Z:0.10 [[ 9.82555750e-01 -1.85865180e-01 -6.19143983e-03 2.28471947e+01] [ 1.85861475e-01 9.82575257e-01 -1.17350069e-03 2.52020809e+00] [ 6.30166850e-03 2.27970773e-06 9.99980144e-01 9.91524293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:22.88, Y:2.52, Z:0.10 [[ 9.82083514e-01 -1.88344474e-01 -6.19111267e-03 2.28756464e+01] [ 1.88340808e-01 9.82103029e-01 -1.17522418e-03 2.52216479e+00] [ 6.30165749e-03 -1.18708646e-05 9.99980144e-01 1.01490322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.531858063999998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:22.90, Y:2.53, Z:0.10 [[ 9.82029645e-01 -1.88625161e-01 -6.19077582e-03 2.29037230e+01] [ 1.88621489e-01 9.82049158e-01 -1.17699599e-03 2.52756661e+00] [ 6.30165723e-03 -1.18684029e-05 9.99980144e-01 1.01669811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561858064 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:22.93, Y:2.53, Z:0.10 [[ 9.81689160e-01 -1.90389263e-01 -6.19043891e-03 2.29308205e+01] [ 1.90385615e-01 9.81708678e-01 -1.17876527e-03 2.53184304e+00] [ 6.30163185e-03 -2.13894281e-05 9.99980144e-01 1.01512216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.591858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:22.96, Y:2.54, Z:0.10 [[ 9.81285606e-01 -1.92458413e-01 -6.19029288e-03 2.29589837e+01] [ 1.92454801e-01 9.81305130e-01 -1.17953169e-03 2.53642083e+00] [ 6.30157695e-03 -3.38941124e-05 9.99980144e-01 1.01988338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621858063999998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:22.99, Y:2.54, Z:0.10 [[ 9.80897517e-01 -1.94426709e-01 -6.18996255e-03 2.29865679e+01] [ 1.94423126e-01 9.80917047e-01 -1.18126262e-03 2.54055744e+00] [ 6.30150879e-03 -4.47743013e-05 9.99980144e-01 1.02706187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.651858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.01, Y:2.55, Z:0.10 [[ 9.78947591e-01 -2.04017900e-01 -6.18962797e-03 2.30067947e+01] [ 2.04014497e-01 9.78967152e-01 -1.18301320e-03 2.54869721e+00] [ 6.30079834e-03 -1.04665918e-04 9.99980144e-01 9.90863142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:23.04, Y:2.55, Z:0.10 [[ 9.78402031e-01 -2.06619091e-01 -6.16572217e-03 2.30378721e+01] [ 2.06614954e-01 9.78421459e-01 -1.30762458e-03 2.55323709e+00] [ 6.30285509e-03 5.45214156e-06 9.99980137e-01 9.66436588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.711858063999998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:23.07, Y:2.55, Z:0.10 [[ 9.79300715e-01 -2.02316598e-01 -6.17288316e-03 2.30719149e+01] [ 2.02312609e-01 9.79320169e-01 -1.27044969e-03 2.55444989e+00] [ 6.30226204e-03 -4.69981228e-06 9.99980141e-01 1.01939889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:23.10, Y:2.56, Z:0.10 [[ 9.79145824e-01 -2.03064423e-01 -6.18825774e-03 2.30986484e+01] [ 2.03060954e-01 9.79165375e-01 -1.19053458e-03 2.55993930e+00] [ 6.30108293e-03 -9.08865560e-05 9.99980144e-01 1.01638032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.771858064 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:23.13, Y:2.57, Z:0.10 [[ 9.78983804e-01 -2.03844109e-01 -6.18802816e-03 2.31258885e+01] [ 2.03840647e-01 9.79003356e-01 -1.19172664e-03 2.56520056e+00] [ 6.30102679e-03 -9.46905883e-05 9.99980144e-01 1.01762072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.15, Y:2.57, Z:0.10 [[ 9.78868989e-01 -2.04394752e-01 -6.18769593e-03 2.31536856e+01] [ 2.04391291e-01 9.78888541e-01 -1.19344918e-03 2.56971953e+00] [ 6.30099939e-03 -9.64807601e-05 9.99980144e-01 1.01220751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.831858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:23.17, Y:2.58, Z:0.09 [[ 9.76417757e-01 -2.15801017e-01 -6.18754112e-03 2.31662733e+01] [ 2.15797779e-01 9.76437347e-01 -1.19425127e-03 2.58490918e+00] [ 6.29946687e-03 -1.69169488e-04 9.99980144e-01 9.31138326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.21, Y:2.58, Z:0.10 [[ 9.77718021e-01 -2.09832673e-01 -6.14180538e-03 2.32060258e+01] [ 2.09827829e-01 9.77737305e-01 -1.42992798e-03 2.58482815e+00] [ 6.30511785e-03 1.09344668e-04 9.99980117e-01 9.59742589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.891858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:23.23, Y:2.59, Z:0.09 [[ 9.77504127e-01 -2.10825992e-01 -6.17112071e-03 2.32328482e+01] [ 2.10822119e-01 9.77523605e-01 -1.27882827e-03 2.59107774e+00] [ 6.30202640e-03 -5.09488383e-05 9.99980141e-01 9.48579227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:23.26, Y:2.60, Z:0.09 [[ 9.76991691e-01 -2.13188002e-01 -6.17344682e-03 2.32591083e+01] [ 2.13184253e-01 9.77011192e-01 -1.26683287e-03 2.59846683e+00] [ 6.30160021e-03 -7.83964558e-05 9.99980142e-01 9.18036274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.951858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:23.29, Y:2.60, Z:0.09 [[ 9.76791588e-01 -2.14103030e-01 -6.17142386e-03 2.32857644e+01] [ 2.14099232e-01 9.76811081e-01 -1.27733811e-03 2.60255134e+00] [ 6.30179717e-03 -7.36039939e-05 9.99980141e-01 9.38014897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.32, Y:2.61, Z:0.09 [[ 9.76446119e-01 -2.15673195e-01 -6.16843823e-03 2.33153561e+01] [ 2.15669331e-01 9.76465600e-01 -1.29282987e-03 2.60742630e+00] [ 6.30209649e-03 -6.79642370e-05 9.99980139e-01 9.19945945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.011858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.34, Y:2.61, Z:0.10 [[ 9.76597911e-01 -2.14984653e-01 -6.17409533e-03 2.33421309e+01] [ 2.14980960e-01 9.76617423e-01 -1.26345235e-03 2.61202295e+00] [ 6.30135193e-03 -9.34280140e-05 9.99980142e-01 9.56690008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041858064 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:23.37, Y:2.62, Z:0.09 [[ 9.76692224e-01 -2.14555862e-01 -6.17097386e-03 2.33728594e+01] [ 2.14552059e-01 9.76711716e-01 -1.27964599e-03 2.61848919e+00] [ 6.30181802e-03 -7.41748579e-05 9.99980141e-01 9.34750478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.40, Y:2.62, Z:0.10 [[ 9.77321638e-01 -2.11670081e-01 -6.18005886e-03 2.33999342e+01] [ 2.11666518e-01 9.77341172e-01 -1.23238188e-03 2.62325436e+00] [ 6.30088434e-03 -1.03678066e-04 9.99980144e-01 9.72464250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101858063999998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:23.43, Y:2.63, Z:0.10 [[ 9.77663959e-01 -2.10083375e-01 -6.17723816e-03 2.34262101e+01] [ 2.10079688e-01 9.77683471e-01 -1.24703694e-03 2.62978467e+00] [ 6.30136537e-03 -7.85291968e-05 9.99980143e-01 9.57065921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.46, Y:2.64, Z:0.10 [[ 9.78768589e-01 -2.04875384e-01 -6.17472051e-03 2.34568917e+01] [ 2.04871511e-01 9.78788065e-01 -1.26011234e-03 2.63554220e+00] [ 6.30190874e-03 -3.16659443e-05 9.99980142e-01 9.99058318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.49, Y:2.64, Z:0.10 [[ 9.79210917e-01 -2.02750422e-01 -6.18439580e-03 2.34855451e+01] [ 2.02746824e-01 9.79230444e-01 -1.20984194e-03 2.64108672e+00] [ 6.30124461e-03 -6.91761760e-05 9.99980145e-01 1.00842499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.191858063999998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:23.51, Y:2.65, Z:0.10 [[ 9.78990050e-01 -2.03814177e-01 -6.18575905e-03 2.35091006e+01] [ 2.03810645e-01 9.79009588e-01 -1.20276555e-03 2.64898699e+00] [ 6.30105809e-03 -8.32280444e-05 9.99980145e-01 9.87607205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.221858064 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:23.54, Y:2.65, Z:0.10 [[ 9.80250082e-01 -1.97665518e-01 -6.17407909e-03 2.35424518e+01] [ 1.97661482e-01 9.80269526e-01 -1.26330196e-03 2.65278574e+00] [ 6.30197282e-03 1.79742260e-05 9.99980142e-01 1.03144145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.251858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:23.57, Y:2.66, Z:0.10 [[ 9.80666307e-01 -1.95589515e-01 -6.19161859e-03 2.35701763e+01] [ 1.95586012e-01 9.80685851e-01 -1.17223949e-03 2.65811062e+00] [ 6.30131049e-03 -6.14182182e-05 9.99980145e-01 1.04601612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281858063999998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:23.60, Y:2.66, Z:0.11 [[ 9.80829811e-01 -1.94767904e-01 -6.19242979e-03 2.36019216e+01] [ 1.94764411e-01 9.80849356e-01 -1.16802548e-03 2.66263012e+00] [ 6.30133465e-03 -6.04307241e-05 9.99980145e-01 1.07400269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.311858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:23.63, Y:2.67, Z:0.11 [[ 9.80968693e-01 -1.94066873e-01 -6.20263779e-03 2.36315096e+01] [ 1.94063700e-01 9.80988296e-01 -1.11503906e-03 2.66667633e+00] [ 6.30110722e-03 -1.09888431e-04 9.99980142e-01 1.07062325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.341858064 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:23.66, Y:2.67, Z:0.11 [[ 9.80381275e-01 -1.97012733e-01 -6.20790084e-03 2.36570796e+01] [ 1.97009792e-01 9.80400917e-01 -1.08777886e-03 2.67449452e+00] [ 6.30053796e-03 -1.56579229e-04 9.99980139e-01 1.09104847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.371858063999998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:23.68, Y:2.68, Z:0.11 [[ 9.79673002e-01 -2.00505305e-01 -6.19941947e-03 2.36786614e+01] [ 2.00502158e-01 9.79692607e-01 -1.13135557e-03 2.68300044e+00] [ 6.30036822e-03 -1.34638472e-04 9.99980143e-01 1.08522344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:23.71, Y:2.69, Z:0.11 [[ 9.79386043e-01 -2.01902774e-01 -6.18461159e-03 2.37057789e+01] [ 2.01899176e-01 9.79405567e-01 -1.20721695e-03 2.68907045e+00] [ 6.30098347e-03 -6.63365489e-05 9.99980146e-01 1.08804735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.431858064 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:23.74, Y:2.69, Z:0.11 [[ 9.79337578e-01 -2.02137732e-01 -6.18427468e-03 2.37391239e+01] [ 2.02134127e-01 9.79357102e-01 -1.20894042e-03 2.69220061e+00] [ 6.30098580e-03 -6.60921831e-05 9.99980146e-01 1.09601842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461858063999998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:23.76, Y:2.70, Z:0.11 [[ 9.78679945e-01 -2.05297702e-01 -6.19827091e-03 2.37616220e+01] [ 2.05294614e-01 9.78699560e-01 -1.13724685e-03 2.70011974e+00] [ 6.29971917e-03 -1.59470950e-04 9.99980144e-01 1.09014418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:23.79, Y:2.70, Z:0.11 [[ 9.78771080e-01 -2.04863204e-01 -6.18383608e-03 2.37907009e+01] [ 2.04859641e-01 9.78790611e-01 -1.21095923e-03 2.70233223e+00] [ 6.30076169e-03 -8.15665630e-05 9.99980147e-01 1.08419415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.83, Y:2.70, Z:0.11 [[ 9.78985933e-01 -2.03833883e-01 -6.18799111e-03 2.38274610e+01] [ 2.03830433e-01 9.79005485e-01 -1.18977152e-03 2.70378087e+00] [ 6.30059298e-03 -9.65313329e-05 9.99980146e-01 1.06500661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:2.71, Z:0.11 [[ 9.77278540e-01 -2.11867999e-01 -6.21333166e-03 2.38500860e+01] [ 2.11865531e-01 9.77298251e-01 -1.06035356e-03 2.71285659e+00] [ 6.29693315e-03 -2.80130029e-04 9.99980135e-01 1.10097372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581858064 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:23.87, Y:2.72, Z:0.11 [[ 9.76791658e-01 -2.14102050e-01 -6.19434331e-03 2.38725342e+01] [ 2.14099014e-01 9.76811278e-01 -1.15688636e-03 2.72080626e+00] [ 6.29839615e-03 -1.96165848e-04 9.99980146e-01 1.10179497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.611858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.91, Y:2.73, Z:0.11 [[ 9.76594236e-01 -2.15001147e-01 -6.18106150e-03 2.39054635e+01] [ 2.14997703e-01 9.76613787e-01 -1.22417050e-03 2.72536484e+00] [ 6.29970795e-03 -1.33396170e-04 9.99980148e-01 1.08596448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:23.93, Y:2.73, Z:0.11 [[ 9.75985310e-01 -2.17748229e-01 -6.19544135e-03 2.39275646e+01] [ 2.17745300e-01 9.76004948e-01 -1.15154195e-03 2.73374821e+00] [ 6.29752764e-03 -2.25140216e-04 9.99980145e-01 1.08520854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.671858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.95, Y:2.74, Z:0.11 [[ 9.75823552e-01 -2.18472418e-01 -6.18044006e-03 2.39547177e+01] [ 2.18469025e-01 9.75843112e-01 -1.22709802e-03 2.73883753e+00] [ 6.29922694e-03 -1.52803567e-04 9.99980148e-01 1.09019521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:23.98, Y:2.74, Z:0.11 [[ 9.75734319e-01 -2.18870615e-01 -6.18009569e-03 2.39822325e+01] [ 2.18867219e-01 9.75753878e-01 -1.22882996e-03 2.74375947e+00] [ 6.29920710e-03 -1.53608795e-04 9.99980148e-01 1.09819745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.731858064 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:24.01, Y:2.75, Z:0.11 [[ 9.75732363e-01 -2.18879342e-01 -6.17975229e-03 2.40099646e+01] [ 2.18875936e-01 9.75751921e-01 -1.23055446e-03 2.74893506e+00] [ 6.29924812e-03 -1.51907257e-04 9.99980148e-01 1.11166845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761858064 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:24.04, Y:2.76, Z:0.11 [[ 9.75770086e-01 -2.18711115e-01 -6.17964600e-03 2.40369359e+01] [ 2.18707702e-01 9.75789642e-01 -1.23108802e-03 2.75505670e+00] [ 6.29928719e-03 -1.50277314e-04 9.99980148e-01 1.12145393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.791858064 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:24.06, Y:2.76, Z:0.11 [[ 9.75864562e-01 -2.18289194e-01 -6.17931308e-03 2.40645715e+01] [ 2.18285761e-01 9.75884115e-01 -1.23275680e-03 2.76182881e+00] [ 6.29939097e-03 -1.45852384e-04 9.99980148e-01 1.12890185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:24.09, Y:2.77, Z:0.11 [[ 9.76527781e-01 -2.15302842e-01 -6.17897798e-03 2.40913026e+01] [ 2.15299340e-01 9.76547321e-01 -1.23443415e-03 2.76856300e+00] [ 6.29984158e-03 -1.24870638e-04 9.99980148e-01 1.12928118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.851858063999998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.12, Y:2.77, Z:0.11 [[ 9.76843046e-01 -2.13867918e-01 -6.17883277e-03 2.41188704e+01] [ 2.13864382e-01 9.76862580e-01 -1.23516057e-03 2.77421249e+00] [ 6.30003174e-03 -1.14874242e-04 9.99980148e-01 1.13508361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881858064 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:24.15, Y:2.78, Z:0.11 [[ 9.77203730e-01 -2.12213800e-01 -6.17848669e-03 2.41460150e+01] [ 2.12210220e-01 9.77223256e-01 -1.23688932e-03 2.77991422e+00] [ 6.30024586e-03 -1.02445162e-04 9.99980148e-01 1.13924624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.911858064 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:24.18, Y:2.78, Z:0.11 [[ 9.78484106e-01 -2.06229689e-01 -6.17813179e-03 2.41790228e+01] [ 2.06225979e-01 9.78503608e-01 -1.23865948e-03 2.78406177e+00] [ 6.30077260e-03 -6.20826625e-05 9.99980148e-01 1.11705315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.941858063999998 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:24.20, Y:2.79, Z:0.11 [[ 9.78506697e-01 -2.06121987e-01 -6.19438527e-03 2.42007534e+01] [ 2.06118788e-01 9.78526293e-01 -1.15743207e-03 2.79342226e+00] [ 6.29994106e-03 -1.44224153e-04 9.99980145e-01 1.12426943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.971858064 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:24.23, Y:2.80, Z:0.11 [[ 9.78886652e-01 -2.04310513e-01 -6.17550727e-03 2.42291902e+01] [ 2.04306684e-01 9.78906131e-01 -1.25136179e-03 2.80124261e+00] [ 6.30090830e-03 -3.67560540e-05 9.99980148e-01 1.11836107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:24.26, Y:2.81, Z:0.11 [[ 9.80232083e-01 -1.97754660e-01 -6.17720538e-03 2.42587879e+01] [ 1.97750754e-01 9.80251547e-01 -1.24292235e-03 2.80807565e+00] [ 6.30100881e-03 -3.19465892e-06 9.99980148e-01 1.11323717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.031858063999998 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:24.28, Y:2.81, Z:0.11 [[ 9.80533606e-01 -1.96253994e-01 -6.18204391e-03 2.42844375e+01] [ 1.96250210e-01 9.80553094e-01 -1.21887917e-03 2.81386687e+00] [ 6.30103219e-03 -1.80754229e-05 9.99980148e-01 1.10084128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061858064 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:24.31, Y:2.82, Z:0.11 [[ 9.81086799e-01 -1.93469743e-01 -6.17669574e-03 2.43118618e+01] [ 1.93465736e-01 9.81106242e-01 -1.24540391e-03 2.81856739e+00] [ 6.30094272e-03 2.68703490e-05 9.99980149e-01 1.10747175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.091858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:24.34, Y:2.82, Z:0.11 [[ 9.81161133e-01 -1.93092414e-01 -6.17658736e-03 2.43397352e+01] [ 1.93088396e-01 9.81180574e-01 -1.24594119e-03 2.82424852e+00] [ 6.30092933e-03 2.98417183e-05 9.99980149e-01 1.11078375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121858063999998 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:24.37, Y:2.83, Z:0.11 [[ 9.81296877e-01 -1.92401385e-01 -6.17624150e-03 2.43697477e+01] [ 1.92397344e-01 9.81316313e-01 -1.24765330e-03 2.82941267e+00] [ 6.30089676e-03 3.60258289e-05 9.99980149e-01 1.12411655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.151858064 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:24.39, Y:2.84, Z:0.11 [[ 9.81089768e-01 -1.93454523e-01 -6.18181376e-03 2.43946233e+01] [ 1.93450676e-01 9.81109243e-01 -1.22008086e-03 2.83529040e+00] [ 6.30106478e-03 1.13279357e-06 9.99980148e-01 1.11146188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181858064 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:24.42, Y:2.84, Z:0.11 [[ 9.80974421e-01 -1.94038772e-01 -6.17571333e-03 2.44224106e+01] [ 1.94034747e-01 9.80993860e-01 -1.25021528e-03 2.83858252e+00] [ 6.30092710e-03 2.81262394e-05 9.99980149e-01 1.12814795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.211858063999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:24.45, Y:2.84, Z:0.11 [[ 9.80868010e-01 -1.94575980e-01 -6.17535811e-03 2.44505693e+01] [ 1.94571954e-01 9.80887449e-01 -1.25196742e-03 2.84308006e+00] [ 6.30093405e-03 2.64633009e-05 9.99980149e-01 1.12974042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241858064 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:24.48, Y:2.85, Z:0.11 [[ 9.80761797e-01 -1.95110655e-01 -6.17500344e-03 2.44784149e+01] [ 1.95106629e-01 9.80781235e-01 -1.25371430e-03 2.84782296e+00] [ 6.30094052e-03 2.48109845e-05 9.99980149e-01 1.13253357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.271858064 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:24.51, Y:2.85, Z:0.11 [[ 9.80559250e-01 -1.96126058e-01 -6.17465066e-03 2.45055647e+01] [ 1.96122040e-01 9.80578691e-01 -1.25544936e-03 2.85219983e+00] [ 6.30095720e-03 2.00573950e-05 9.99980149e-01 1.12880267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:24.53, Y:2.86, Z:0.11 [[ 9.80360117e-01 -1.97119043e-01 -6.17449782e-03 2.45331993e+01] [ 1.97115041e-01 9.80379560e-01 -1.25620063e-03 2.85740915e+00] [ 6.30097252e-03 1.44426028e-05 9.99980149e-01 1.12133382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.331858064 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:24.56, Y:2.86, Z:0.11 [[ 9.80229689e-01 -1.97766624e-01 -6.17414653e-03 2.45614137e+01] [ 1.97762623e-01 9.80249133e-01 -1.25792483e-03 2.86002865e+00] [ 6.30097733e-03 1.20398450e-05 9.99980149e-01 1.11332561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361858064 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:24.59, Y:2.86, Z:0.11 [[ 9.80166482e-01 -1.98079658e-01 -6.17379399e-03 2.45885551e+01] [ 1.98075653e-01 9.80185926e-01 -1.25965269e-03 2.86300827e+00] [ 6.30097755e-03 1.17910670e-05 9.99980149e-01 1.11838968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.391858064 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:24.62, Y:2.87, Z:0.11 [[ 9.80067187e-01 -1.98570383e-01 -6.17355460e-03 2.46175086e+01] [ 1.98566380e-01 9.80086630e-01 -1.26082485e-03 2.86608260e+00] [ 6.30098080e-03 9.83267657e-06 9.99980149e-01 1.13740523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:24.64, Y:2.87, Z:0.11 [[ 9.80114156e-01 -1.98338383e-01 -6.17469588e-03 2.46447177e+01] [ 1.98334411e-01 9.80133606e-01 -1.25524167e-03 2.86837481e+00] [ 6.30098954e-03 5.62545962e-06 9.99980149e-01 1.14227117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.451858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:24.67, Y:2.87, Z:0.11 [[ 9.80058147e-01 -1.98615010e-01 -6.17305601e-03 2.46727144e+01] [ 1.98610993e-01 9.80077588e-01 -1.26325510e-03 2.87417676e+00] [ 6.30097526e-03 1.20266730e-05 9.99980149e-01 1.14404110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:24.70, Y:2.88, Z:0.11 [[ 9.80002059e-01 -1.98891582e-01 -6.17269902e-03 2.47007101e+01] [ 1.98887560e-01 9.80021499e-01 -1.26499705e-03 2.87998382e+00] [ 6.30097501e-03 1.20266725e-05 9.99980149e-01 1.14583580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.511858064 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:24.73, Y:2.88, Z:0.11 [[ 9.80089808e-01 -1.98458737e-01 -6.17234155e-03 2.47308554e+01] [ 1.98454695e-01 9.80109244e-01 -1.26673890e-03 2.88318367e+00] [ 6.30096441e-03 1.65877299e-05 9.99980149e-01 1.14670393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:24.76, Y:2.89, Z:0.11 [[ 9.80286897e-01 -1.97482844e-01 -6.17467275e-03 2.47590385e+01] [ 1.97478854e-01 9.80306343e-01 -1.25538024e-03 2.88668405e+00] [ 6.30098692e-03 1.12654962e-05 9.99980149e-01 1.12668703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.571858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:24.79, Y:2.89, Z:0.11 [[ 9.80035477e-01 -1.98726871e-01 -6.17213905e-03 2.47863558e+01] [ 1.98722828e-01 9.80054912e-01 -1.26770380e-03 2.88913152e+00] [ 6.30096201e-03 1.58497693e-05 9.99980149e-01 1.09121965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601858063999998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:24.82, Y:2.89, Z:0.11 [[ 9.80521377e-01 -1.96315642e-01 -6.16428382e-03 2.48166443e+01] [ 1.96311311e-01 9.80540751e-01 -1.30585289e-03 2.89000826e+00] [ 6.30069083e-03 7.02980366e-05 9.99980148e-01 1.12126920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.631858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:24.84, Y:2.89, Z:0.11 [[ 9.80517745e-01 -1.96333552e-01 -6.17153744e-03 2.48438193e+01] [ 1.96329443e-01 9.80537167e-01 -1.27062133e-03 2.89293805e+00] [ 6.30088744e-03 3.42122530e-05 9.99980149e-01 1.12131832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:24.87, Y:2.89, Z:0.11 [[ 9.80310432e-01 -1.97366086e-01 -6.17129274e-03 2.48719637e+01] [ 1.97361991e-01 9.80329856e-01 -1.27180872e-03 2.89346976e+00] [ 6.30091443e-03 2.87887377e-05 9.99980149e-01 1.12966474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.691858063999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:24.90, Y:2.90, Z:0.11 [[ 9.80072996e-01 -1.98541787e-01 -6.17094123e-03 2.48990193e+01] [ 1.98537704e-01 9.80092423e-01 -1.27351200e-03 2.89611594e+00] [ 6.30093809e-03 2.29702210e-05 9.99980149e-01 1.11060020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.721858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:24.93, Y:2.90, Z:0.11 [[ 9.79307293e-01 -2.02284817e-01 -6.17078888e-03 2.49252181e+01] [ 2.02280803e-01 9.79326734e-01 -1.27424978e-03 2.90056182e+00] [ 6.30097991e-03 -3.50029554e-07 9.99980149e-01 1.12067071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.751858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:24.96, Y:2.90, Z:0.12 [[ 9.79417275e-01 -2.01751865e-01 -6.16331245e-03 2.49566135e+01] [ 2.01747614e-01 9.79436666e-01 -1.31039968e-03 2.89811493e+00] [ 6.30094978e-03 3.99945078e-05 9.99980148e-01 1.16376858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.781858063999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.99, Y:2.90, Z:0.12 [[ 9.79166513e-01 -2.02965179e-01 -6.17051012e-03 2.49850102e+01] [ 2.02961171e-01 9.79185956e-01 -1.27558162e-03 2.90111062e+00] [ 6.30097550e-03 -3.36715272e-06 9.99980149e-01 1.17137397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.811858064 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:25.01, Y:2.90, Z:0.12 [[ 9.78993999e-01 -2.03795679e-01 -6.17015634e-03 2.50114753e+01] [ 2.03791677e-01 9.79013443e-01 -1.27729061e-03 2.90430915e+00] [ 6.30097231e-03 -6.96666137e-06 9.99980149e-01 1.17043381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.04, Y:2.91, Z:0.12 [[ 9.78802039e-01 -2.04715656e-01 -6.17000360e-03 2.50392977e+01] [ 2.04711667e-01 9.78821485e-01 -1.27802800e-03 2.90692015e+00] [ 6.30096443e-03 -1.21353100e-05 9.99980149e-01 1.16917495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.871858063999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:25.07, Y:2.91, Z:0.12 [[ 9.78867904e-01 -2.04400492e-01 -6.16964613e-03 2.50661192e+01] [ 2.04396486e-01 9.78887347e-01 -1.27975136e-03 2.91075955e+00] [ 6.30097034e-03 -8.34645571e-06 9.99980149e-01 1.16532824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901858064 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:25.09, Y:2.92, Z:0.12 [[ 9.78915535e-01 -2.04172262e-01 -6.16949052e-03 2.50940287e+01] [ 2.04168246e-01 9.78934976e-01 -1.28050110e-03 2.91500913e+00] [ 6.30097286e-03 -6.11163727e-06 9.99980149e-01 1.16652390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.931858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.12, Y:2.92, Z:0.12 [[ 9.78985836e-01 -2.03834918e-01 -6.16914631e-03 2.51214903e+01] [ 2.03830886e-01 9.79005274e-01 -1.28215725e-03 2.91917860e+00] [ 6.30097519e-03 -2.24877308e-06 9.99980149e-01 1.16933854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961858063999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:25.15, Y:2.92, Z:0.12 [[ 9.79146170e-01 -2.03063348e-01 -6.16879444e-03 2.51489421e+01] [ 2.03059290e-01 9.79165602e-01 -1.28384797e-03 2.92222910e+00] [ 6.30097379e-03 4.44380823e-06 9.99980149e-01 1.17225143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.991858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:25.18, Y:2.93, Z:0.12 [[ 9.79207295e-01 -2.02768397e-01 -6.16855561e-03 2.51765101e+01] [ 2.02764325e-01 9.79226724e-01 -1.28499445e-03 2.92717458e+00] [ 6.30097077e-03 7.51291992e-06 9.99980149e-01 1.17256482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.021858064 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:25.20, Y:2.93, Z:0.12 [[ 9.79284660e-01 -2.02394435e-01 -6.16820769e-03 2.52040690e+01] [ 2.02390345e-01 9.79304086e-01 -1.28666239e-03 2.93243189e+00] [ 6.30096430e-03 1.16230529e-05 9.99980149e-01 1.17554531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.23, Y:2.94, Z:0.12 [[ 9.79699071e-01 -2.00378860e-01 -6.16784490e-03 2.52313460e+01] [ 2.00374719e-01 9.79718486e-01 -1.28839914e-03 2.93631289e+00] [ 6.30091962e-03 2.63632527e-05 9.99980149e-01 1.16414336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.081858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.26, Y:2.94, Z:0.12 [[ 9.79481070e-01 -2.01441786e-01 -6.16773197e-03 2.52620940e+01] [ 2.01437663e-01 9.79500488e-01 -1.28893951e-03 2.94190000e+00] [ 6.30094275e-03 2.00783397e-05 9.99980149e-01 1.15666623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.111858064 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:25.29, Y:2.95, Z:0.11 [[ 9.79703647e-01 -2.00356201e-01 -6.17719210e-03 2.52890348e+01] [ 2.00352342e-01 9.79723120e-01 -1.24366647e-03 2.94672027e+00] [ 6.30111421e-03 -1.91903300e-05 9.99980148e-01 1.14570920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.32, Y:2.95, Z:0.12 [[ 9.80059581e-01 -1.98607990e-01 -6.17118323e-03 2.53158608e+01] [ 1.98603916e-01 9.80079010e-01 -1.27237097e-03 2.95116830e+00] [ 6.30095020e-03 2.13782095e-05 9.99980149e-01 1.19608465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.171858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:25.34, Y:2.96, Z:0.12 [[ 9.80135038e-01 -1.98235405e-01 -6.16700391e-03 2.53434971e+01] [ 1.98231198e-01 9.80154438e-01 -1.29231498e-03 2.95685028e+00] [ 6.30079883e-03 4.41506249e-05 9.99980149e-01 1.21394808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201858064 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:25.37, Y:2.96, Z:0.12 [[ 9.80182526e-01 -1.98000478e-01 -6.16664293e-03 2.53697931e+01] [ 1.97996255e-01 9.80201922e-01 -1.29403521e-03 2.96284020e+00] [ 6.30077484e-03 4.74184995e-05 9.99980149e-01 1.20505801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:2.97, Z:0.12 [[ 9.80479273e-01 -1.96525750e-01 -6.16648703e-03 2.53966653e+01] [ 1.96521493e-01 9.80498662e-01 -1.29477769e-03 2.96964480e+00] [ 6.30068944e-03 5.76554509e-05 9.99980149e-01 1.21987210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:25.42, Y:2.98, Z:0.12 [[ 9.80611297e-01 -1.95865931e-01 -6.16611816e-03 2.54227442e+01] [ 1.95861650e-01 9.80630681e-01 -1.29653197e-03 2.97568851e+00] [ 6.30063109e-03 6.36878153e-05 9.99980149e-01 1.21953358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.45, Y:2.98, Z:0.12 [[ 9.80680726e-01 -1.95518017e-01 -6.16586786e-03 2.54502849e+01] [ 1.95513722e-01 9.80700107e-01 -1.29772120e-03 2.98197322e+00] [ 6.30059515e-03 6.71384002e-05 9.99980149e-01 1.22866723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.48, Y:2.99, Z:0.12 [[ 9.80750281e-01 -1.95168833e-01 -6.16550057e-03 2.54766103e+01] [ 1.95164520e-01 9.80769658e-01 -1.29946390e-03 2.98773087e+00] [ 6.30055073e-03 7.11626308e-05 9.99980149e-01 1.23681902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.351858063999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:3.00, Z:0.12 [[ 9.80686779e-01 -1.95487671e-01 -6.16534186e-03 2.55041027e+01] [ 1.95483359e-01 9.80706157e-01 -1.30021644e-03 2.99521321e+00] [ 6.30056501e-03 6.98833346e-05 9.99980149e-01 1.24583676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.53, Y:3.00, Z:0.12 [[ 9.80618109e-01 -1.95831859e-01 -6.16497503e-03 2.55326476e+01] [ 1.95827544e-01 9.80637486e-01 -1.30195344e-03 3.00221019e+00] [ 6.30056958e-03 6.94472021e-05 9.99980149e-01 1.24435348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:3.01, Z:0.12 [[ 9.80579864e-01 -1.96023276e-01 -6.16479811e-03 2.55608405e+01] [ 1.96018959e-01 9.80599241e-01 -1.30279063e-03 3.01008906e+00] [ 6.30057363e-03 6.90729538e-05 9.99980149e-01 1.23542378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441858063999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.59, Y:3.02, Z:0.12 [[ 9.80485351e-01 -1.96495484e-01 -6.16447249e-03 2.55873843e+01] [ 1.96491166e-01 9.80504727e-01 -1.30432958e-03 3.01704932e+00] [ 6.30058929e-03 6.76116548e-05 9.99980149e-01 1.21798538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.61, Y:3.02, Z:0.12 [[ 9.80301462e-01 -1.97410849e-01 -6.16435756e-03 2.56144874e+01] [ 1.97406547e-01 9.80320842e-01 -1.30487251e-03 3.02402513e+00] [ 6.30064418e-03 6.22838877e-05 9.99980149e-01 1.20215690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:3.03, Z:0.12 [[ 9.80054396e-01 -1.98633794e-01 -6.16424345e-03 2.56407215e+01] [ 1.98629512e-01 9.80073779e-01 -1.30541135e-03 3.02948110e+00] [ 6.30071218e-03 5.49734678e-05 9.99980149e-01 1.19911438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.531858063999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.67, Y:3.04, Z:0.12 [[ 9.79718721e-01 -2.00282881e-01 -6.16399744e-03 2.56678965e+01] [ 2.00278625e-01 9.79738111e-01 -1.30657196e-03 3.03508067e+00] [ 6.30078720e-03 4.55560808e-05 9.99980149e-01 1.21465752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.70, Y:3.04, Z:0.12 [[ 9.79015866e-01 -2.03690805e-01 -6.16363177e-03 2.56961444e+01] [ 2.03686605e-01 9.79035268e-01 -1.30829468e-03 3.04185828e+00] [ 6.30090048e-03 2.53920125e-05 9.99980149e-01 1.23005351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.591858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:25.72, Y:3.05, Z:0.12 [[ 9.78690049e-01 -2.05250582e-01 -6.16331458e-03 2.57228858e+01] [ 2.05246404e-01 9.78709455e-01 -1.30978724e-03 3.04778312e+00] [ 6.30092885e-03 1.68775843e-05 9.99980149e-01 1.23561775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621858063999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.75, Y:3.06, Z:0.12 [[ 9.77423163e-01 -2.11201268e-01 -6.16320225e-03 2.57472541e+01] [ 2.11197205e-01 9.77442594e-01 -1.31031562e-03 3.05698918e+00] [ 6.30091671e-03 -2.09182439e-05 9.99980149e-01 1.20848066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.651858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.77, Y:3.06, Z:0.12 [[ 9.77485275e-01 -2.10914049e-01 -6.14833367e-03 2.57743231e+01] [ 2.10909540e-01 9.77504609e-01 -1.38011837e-03 3.06177231e+00] [ 6.30111085e-03 5.23031581e-05 9.99980146e-01 1.20967570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:25.81, Y:3.06, Z:0.12 [[ 9.78332986e-01 -2.06946405e-01 -6.14444880e-03 2.58081400e+01] [ 2.06941703e-01 9.78352276e-01 -1.39838076e-03 3.06351787e+00] [ 6.30082534e-03 9.65393273e-05 9.99980145e-01 1.24683414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.711858063999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:25.84, Y:3.07, Z:0.12 [[ 9.78194042e-01 -2.07601603e-01 -6.16362167e-03 2.58353471e+01] [ 2.07597482e-01 9.78213461e-01 -1.30803607e-03 3.06976798e+00] [ 6.30088806e-03 -3.92509951e-08 9.99980149e-01 1.24272249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741858064 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:25.86, Y:3.08, Z:0.12 [[ 9.78041334e-01 -2.08319859e-01 -6.16326855e-03 2.58637997e+01] [ 2.08315742e-01 9.78060753e-01 -1.30969781e-03 3.07679339e+00] [ 6.30088714e-03 -2.96726644e-06 9.99980149e-01 1.24034928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.771858064 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:25.88, Y:3.09, Z:0.12 [[ 9.76405320e-01 -2.15857982e-01 -6.16296026e-03 2.58813286e+01] [ 2.15854006e-01 9.76424769e-01 -1.31114688e-03 3.09234291e+00] [ 6.30068857e-03 -5.00888757e-05 9.99980149e-01 1.15794600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.801858063999997 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:25.92, Y:3.09, Z:0.12 [[ 9.78009429e-01 -2.08470483e-01 -6.13311520e-03 2.59174213e+01] [ 2.08465484e-01 9.78028649e-01 -1.45052743e-03 3.09381209e+00] [ 6.30075453e-03 1.40086678e-04 9.99980140e-01 1.20488807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.831858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:25.95, Y:3.10, Z:0.12 [[ 9.77845914e-01 -2.09235345e-01 -6.15945157e-03 2.59450937e+01] [ 2.09231136e-01 9.77865313e-01 -1.32726060e-03 3.10108520e+00] [ 6.30082387e-03 9.10730459e-06 9.99980150e-01 1.20973939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.97, Y:3.11, Z:0.12 [[ 9.77868588e-01 -2.09129294e-01 -6.16146830e-03 2.59729467e+01] [ 2.09125142e-01 9.77887999e-01 -1.31783149e-03 3.10717298e+00] [ 6.30082307e-03 1.48092143e-07 9.99980150e-01 1.21812433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.891858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:26.00, Y:3.11, Z:0.12 [[ 9.77849036e-01 -2.09220707e-01 -6.16112652e-03 2.60001445e+01] [ 2.09216547e-01 9.77868445e-01 -1.31942746e-03 3.11307835e+00] [ 6.30082275e-03 1.19125257e-06 9.99980150e-01 1.24332029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.921858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.03, Y:3.12, Z:0.13 [[ 9.77854558e-01 -2.09194904e-01 -6.16076173e-03 2.60271153e+01] [ 2.09190732e-01 9.77873965e-01 -1.32112852e-03 3.12072921e+00] [ 6.30082186e-03 3.09729037e-06 9.99980150e-01 1.25417180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.951858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:26.05, Y:3.13, Z:0.13 [[ 9.77807375e-01 -2.09415336e-01 -6.16064847e-03 2.60543723e+01] [ 2.09411165e-01 9.77826783e-01 -1.32165648e-03 3.12847736e+00] [ 6.30082221e-03 2.21687465e-06 9.99980150e-01 1.25934435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:3.14, Z:0.12 [[ 9.77800669e-01 -2.09446659e-01 -6.16027701e-03 2.60806840e+01] [ 2.09442478e-01 9.77820074e-01 -1.32338560e-03 3.13630599e+00] [ 6.30082122e-03 3.78364442e-06 9.99980150e-01 1.24970812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.011858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:26.11, Y:3.14, Z:0.12 [[ 9.77738403e-01 -2.09737143e-01 -6.16011575e-03 2.61074618e+01] [ 2.09732963e-01 9.77757808e-01 -1.32413581e-03 3.14391508e+00] [ 6.30082173e-03 2.67910327e-06 9.99980150e-01 1.24835361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.041858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:26.14, Y:3.15, Z:0.12 [[ 9.77664640e-01 -2.10080720e-01 -6.15974697e-03 2.61351581e+01] [ 2.10076537e-01 9.77684045e-01 -1.32584913e-03 3.15096506e+00] [ 6.30082167e-03 2.21750418e-06 9.99980150e-01 1.24624786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.071858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:26.16, Y:3.16, Z:0.13 [[ 9.77277104e-01 -2.11876199e-01 -6.15937241e-03 2.61627471e+01] [ 2.11872040e-01 9.77296514e-01 -1.32758689e-03 3.15733925e+00] [ 6.30081725e-03 -7.57852608e-06 9.99980150e-01 1.25105589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.101858063999998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:26.19, Y:3.16, Z:0.13 [[ 9.76898866e-01 -2.13613373e-01 -6.15899695e-03 2.61905228e+01] [ 2.13609237e-01 9.76918280e-01 -1.32932646e-03 3.16360802e+00] [ 6.30079862e-03 -1.70011318e-05 9.99980150e-01 1.25558360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.131858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:26.22, Y:3.17, Z:0.13 [[ 9.76063604e-01 -2.17398048e-01 -6.15861980e-03 2.62177566e+01] [ 2.17393977e-01 9.76083033e-01 -1.33107149e-03 3.17062451e+00] [ 6.30069663e-03 -3.96364156e-05 9.99980150e-01 1.25837570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.161858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:26.25, Y:3.18, Z:0.13 [[ 9.75574189e-01 -2.19583866e-01 -6.15850298e-03 2.62450046e+01] [ 2.19579835e-01 9.75593626e-01 -1.33161178e-03 3.17709367e+00] [ 6.30059671e-03 -5.31969913e-05 9.99980150e-01 1.26061997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.191858063999998 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:26.27, Y:3.18, Z:0.13 [[ 9.74934323e-01 -2.22407598e-01 -6.15838761e-03 2.62728572e+01] [ 2.22403620e-01 9.74953771e-01 -1.33214512e-03 3.18413938e+00] [ 6.30042242e-03 -7.08936917e-05 9.99980150e-01 1.26056722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.221858064 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:26.30, Y:3.19, Z:0.13 [[ 9.74272779e-01 -2.25287847e-01 -6.15937002e-03 2.62985232e+01] [ 2.25283955e-01 9.74292244e-01 -1.32760585e-03 3.19080396e+00] [ 6.30011991e-03 -9.41569945e-05 9.99980150e-01 1.27898640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.251858064 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:26.33, Y:3.20, Z:0.13 [[ 9.73998419e-01 -2.26471100e-01 -6.15799185e-03 2.63257575e+01] [ 2.26467191e-01 9.74017881e-01 -1.33396792e-03 3.19686882e+00] [ 6.30009935e-03 -9.53004763e-05 9.99980150e-01 1.28533026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.281858063999998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:26.35, Y:3.20, Z:0.13 [[ 9.73740603e-01 -2.27577067e-01 -6.15762442e-03 2.63533304e+01] [ 2.27573170e-01 9.73760067e-01 -1.33566183e-03 3.20344714e+00] [ 6.30001477e-03 -1.00721955e-04 9.99980150e-01 1.28393925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.311858064 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:26.38, Y:3.21, Z:0.13 [[ 9.73535857e-01 -2.28451360e-01 -6.15725854e-03 2.63799569e+01] [ 2.28447470e-01 9.73555322e-01 -1.33734638e-03 3.21251721e+00] [ 6.29995042e-03 -1.04655481e-04 9.99980150e-01 1.26391397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.341858064 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:26.41, Y:3.22, Z:0.13 [[ 9.73472893e-01 -2.28719521e-01 -6.15688991e-03 2.64078839e+01] [ 2.28715625e-01 9.73492357e-01 -1.33904131e-03 3.21866777e+00] [ 6.29995016e-03 -1.04656504e-04 9.99980150e-01 1.26570865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.371858063999998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:26.43, Y:3.23, Z:0.13 [[ 9.73417244e-01 -2.28956255e-01 -6.15652060e-03 2.64338823e+01] [ 2.28952354e-01 9.73436707e-01 -1.34073715e-03 3.22611248e+00] [ 6.29995329e-03 -1.04453225e-04 9.99980150e-01 1.25259944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.401858064 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:26.46, Y:3.23, Z:0.12 [[ 9.73224937e-01 -2.29772327e-01 -6.15636055e-03 2.64624766e+01] [ 2.29768436e-01 9.73244402e-01 -1.34147165e-03 3.23361231e+00] [ 6.29987651e-03 -1.08983677e-04 9.99980150e-01 1.24462866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.431858064 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] Translation: X:26.49, Y:3.24, Z:0.12 [[ 9.74125850e-01 -2.25922243e-01 -6.16191011e-03 2.64902141e+01] [ 2.25918437e-01 9.74145332e-01 -1.31599710e-03 3.23673248e+00] [ 6.29990899e-03 -1.10142313e-04 9.99980149e-01 1.23440019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461858063999998 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:26.52, Y:3.25, Z:0.13 [[ 9.73379410e-01 -2.29116901e-01 -6.16190910e-03 2.65162043e+01] [ 2.29113159e-01 9.73398905e-01 -1.31600175e-03 3.24736369e+00] [ 6.29951381e-03 -1.30805452e-04 9.99980149e-01 1.26639113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.491858064 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:26.54, Y:3.25, Z:0.13 [[ 9.73433152e-01 -2.28888502e-01 -6.16056559e-03 2.65427881e+01] [ 2.28884717e-01 9.73452638e-01 -1.32215863e-03 3.25467586e+00] [ 6.29964574e-03 -1.23026269e-04 9.99980149e-01 1.26460744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:26.57, Y:3.26, Z:0.12 [[ 9.73202075e-01 -2.29868999e-01 -6.16153118e-03 2.65656622e+01] [ 2.29865261e-01 9.73221571e-01 -1.31773940e-03 3.26290432e+00] [ 6.29944249e-03 -1.33895258e-04 9.99980149e-01 1.22923508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.551858063999997 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:26.60, Y:3.27, Z:0.13 [[ 9.74663433e-01 -2.23592173e-01 -6.14261943e-03 2.65988584e+01] [ 2.23587758e-01 9.74682789e-01 -1.40509658e-03 3.26807987e+00] [ 6.30127404e-03 -3.91824773e-06 9.99980147e-01 1.26005705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.63, Y:3.28, Z:0.13 [[ 9.74790200e-01 -2.23038423e-01 -6.15849402e-03 2.66254974e+01] [ 2.23034461e-01 9.74809651e-01 -1.33168314e-03 3.27584489e+00] [ 6.30037591e-03 -7.54447189e-05 9.99980150e-01 1.25640809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.611858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:26.65, Y:3.28, Z:0.13 [[ 9.74826602e-01 -2.22879282e-01 -6.15813086e-03 2.66531581e+01] [ 2.22875305e-01 9.74846050e-01 -1.33336037e-03 3.28308971e+00] [ 6.30040794e-03 -7.27001368e-05 9.99980150e-01 1.25749587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.641858064 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:26.68, Y:3.29, Z:0.12 [[ 9.75244045e-01 -2.21045418e-01 -6.16247786e-03 2.66795005e+01] [ 2.21041532e-01 9.75263511e-01 -1.31325505e-03 3.29009694e+00] [ 6.30032881e-03 -8.14193818e-05 9.99980149e-01 1.23438325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.671858064 meters Centerline goodness : 0.996529 Centerline is valid? [True, True] Translation: X:26.71, Y:3.30, Z:0.12 [[ 9.75030465e-01 -2.21985756e-01 -6.15769180e-03 2.67083726e+01] [ 2.21981749e-01 9.75049906e-01 -1.33536624e-03 3.29912397e+00] [ 6.30048909e-03 -6.48724330e-05 9.99980150e-01 1.22707073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701858064 meters Centerline goodness : 0.996210 Centerline is valid? [True, True] Translation: X:26.74, Y:3.31, Z:0.12 [[ 9.74900711e-01 -2.22554776e-01 -6.16239224e-03 2.67364305e+01] [ 2.22550917e-01 9.74920183e-01 -1.31369913e-03 3.30720090e+00] [ 6.30021058e-03 -9.07198220e-05 9.99980149e-01 1.22834052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.731858064 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:26.76, Y:3.32, Z:0.12 [[ 9.74698473e-01 -2.23438822e-01 -6.16272612e-03 2.67631541e+01] [ 2.23434991e-01 9.74717951e-01 -1.31215997e-03 3.31685168e+00] [ 6.30010725e-03 -9.80083382e-05 9.99980149e-01 1.21096179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761858064 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:26.79, Y:3.32, Z:0.12 [[ 9.74827589e-01 -2.22874735e-01 -6.16641131e-03 2.67946275e+01] [ 2.22871000e-01 9.74847085e-01 -1.29517703e-03 3.32290835e+00] [ 6.29997033e-03 -1.11739949e-04 9.99980149e-01 1.19998667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.791858064 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:26.82, Y:3.33, Z:0.12 [[ 9.74351607e-01 -2.24946118e-01 -6.17976862e-03 2.68155786e+01] [ 2.24942813e-01 9.74371186e-01 -1.23376030e-03 3.33281639e+00] [ 6.29891808e-03 -1.87978204e-04 9.99980144e-01 1.19373596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:26.84, Y:3.34, Z:0.12 [[ 9.74652234e-01 -2.23640542e-01 -6.15879236e-03 2.68426413e+01] [ 2.23636603e-01 9.74671689e-01 -1.32984819e-03 3.33959932e+00] [ 6.30020852e-03 -8.11918881e-05 9.99980150e-01 1.24110225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.851858063999998 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:26.87, Y:3.34, Z:0.12 [[ 9.75186848e-01 -2.21297817e-01 -6.15531727e-03 2.68729711e+01] [ 2.21293731e-01 9.75206272e-01 -1.34574297e-03 3.34321490e+00] [ 6.30051399e-03 -4.97822718e-05 9.99980150e-01 1.23292928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881858064 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:26.90, Y:3.35, Z:0.12 [[ 9.74385089e-01 -2.24801510e-01 -6.16277543e-03 2.68982532e+01] [ 2.24797710e-01 9.74404572e-01 -1.31161404e-03 3.35497737e+00] [ 6.29988937e-03 -1.07360638e-04 9.99980150e-01 1.22875841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.911858064 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:26.93, Y:3.36, Z:0.13 [[ 9.74166225e-01 -2.25748227e-01 -6.15659074e-03 2.69256971e+01] [ 2.25744266e-01 9.74185676e-01 -1.33984208e-03 3.36451405e+00] [ 6.30012949e-03 -8.45861587e-05 9.99980150e-01 1.25359329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.941858063999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:26.95, Y:3.37, Z:0.13 [[ 9.74130144e-01 -2.25903869e-01 -6.15663619e-03 2.69526764e+01] [ 2.25899913e-01 9.74149596e-01 -1.33963513e-03 3.37204136e+00] [ 6.30011342e-03 -8.58046235e-05 9.99980150e-01 1.25116293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.971858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:26.98, Y:3.38, Z:0.13 [[ 9.74010797e-01 -2.26417940e-01 -6.15501204e-03 2.69810825e+01] [ 2.26413948e-01 9.74030241e-01 -1.34702235e-03 3.37928721e+00] [ 6.30015789e-03 -8.15662632e-05 9.99980150e-01 1.25065636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:27.00, Y:3.39, Z:0.12 [[ 9.73338761e-01 -2.29289648e-01 -6.15744868e-03 2.70045875e+01] [ 2.29285783e-01 9.73358231e-01 -1.33593842e-03 3.39112209e+00] [ 6.29972020e-03 -1.11494798e-04 9.99980150e-01 1.23551969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.031858063999998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:27.04, Y:3.40, Z:0.13 [[ 9.73392585e-01 -2.29061483e-01 -6.14111700e-03 2.70391912e+01] [ 2.29057148e-01 9.73411956e-01 -1.40971877e-03 3.39684182e+00] [ 6.30074898e-03 -3.44569458e-05 9.99980149e-01 1.25332313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:27.07, Y:3.41, Z:0.13 [[ 9.73000196e-01 -2.30722120e-01 -6.15804028e-03 2.70664741e+01] [ 2.30718298e-01 9.73019675e-01 -1.33361764e-03 3.40637856e+00] [ 6.29958944e-03 -1.23162344e-04 9.99980150e-01 1.28535812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.091858064 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:27.09, Y:3.42, Z:0.13 [[ 9.72889416e-01 -2.31188841e-01 -6.15657068e-03 2.70911094e+01] [ 2.31184987e-01 9.72908889e-01 -1.34021722e-03 3.41512181e+00] [ 6.29962560e-03 -1.19423566e-04 9.99980150e-01 1.27665599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121858063999998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:27.12, Y:3.42, Z:0.13 [[ 9.72677091e-01 -2.32080778e-01 -6.14727203e-03 2.71180596e+01] [ 2.32076679e-01 9.72696513e-01 -1.38187740e-03 3.42338357e+00] [ 6.30013725e-03 -8.25179860e-05 9.99980151e-01 1.26065010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.151858064 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:27.15, Y:3.43, Z:0.12 [[ 9.72552280e-01 -2.32603186e-01 -6.14981941e-03 2.71467511e+01] [ 2.32599169e-01 9.72571719e-01 -1.37046962e-03 3.42984798e+00] [ 6.29991603e-03 -9.75895334e-05 9.99980151e-01 1.23888689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.181858064 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:27.17, Y:3.44, Z:0.13 [[ 9.71846891e-01 -2.35532970e-01 -6.15149004e-03 2.71729442e+01] [ 2.35529059e-01 9.71866351e-01 -1.36299509e-03 3.43815393e+00] [ 6.29945646e-03 -1.24232116e-04 9.99980151e-01 1.28558628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.211858063999998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:27.20, Y:3.44, Z:0.13 [[ 9.72027990e-01 -2.34784544e-01 -6.14854364e-03 2.72024709e+01] [ 2.34780534e-01 9.72047430e-01 -1.37615930e-03 3.44444111e+00] [ 6.29977698e-03 -1.05893000e-04 9.99980151e-01 1.27664020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.241858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:27.23, Y:3.45, Z:0.13 [[ 9.71699457e-01 -2.36140428e-01 -6.15338193e-03 2.72301480e+01] [ 2.36136583e-01 9.71718930e-01 -1.35455020e-03 3.45342159e+00] [ 6.29922177e-03 -1.36822886e-04 9.99980150e-01 1.28383084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.271858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:27.26, Y:3.46, Z:0.13 [[ 9.72020995e-01 -2.34813430e-01 -6.15122860e-03 2.72586129e+01] [ 2.34809497e-01 9.72040451e-01 -1.36415990e-03 3.46173343e+00] [ 6.29956609e-03 -1.18374832e-04 9.99980151e-01 1.27549283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.301858063999997 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:27.28, Y:3.47, Z:0.13 [[ 9.71270558e-01 -2.37898353e-01 -6.15438606e-03 2.72827696e+01] [ 2.37894572e-01 9.71290044e-01 -1.35007454e-03 3.47208598e+00] [ 6.29887441e-03 -1.52807387e-04 9.99980150e-01 1.27461383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.331858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.32, Y:3.48, Z:0.13 [[ 9.72180424e-01 -2.34152778e-01 -6.14004938e-03 2.73154016e+01] [ 2.34148518e-01 9.72199811e-01 -1.41387866e-03 3.47530754e+00] [ 6.30041847e-03 -6.31383124e-05 9.99980150e-01 1.28959249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361858064 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:27.34, Y:3.49, Z:0.13 [[ 9.71713868e-01 -2.36081069e-01 -6.15523493e-03 2.73384159e+01] [ 2.36077275e-01 9.71733352e-01 -1.34624748e-03 3.48535961e+00] [ 6.29907061e-03 -1.44943738e-04 9.99980150e-01 1.27551397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.391858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:27.36, Y:3.50, Z:0.13 [[ 9.72417654e-01 -2.33165594e-01 -6.14095298e-03 2.73641361e+01] [ 2.33161340e-01 9.72437043e-01 -1.40969448e-03 3.49584035e+00] [ 6.30038241e-03 -6.10210255e-05 9.99980151e-01 1.29360322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421858064 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:27.39, Y:3.50, Z:0.13 [[ 9.73174545e-01 -2.29986087e-01 -6.14040869e-03 2.73902251e+01] [ 2.29981755e-01 9.73193916e-01 -1.41211548e-03 3.50314905e+00] [ 6.30057529e-03 -3.79471333e-05 9.99980150e-01 1.31500583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.451858064 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:27.42, Y:3.51, Z:0.13 [[ 9.74524783e-01 -2.24195889e-01 -6.13601539e-03 2.74183215e+01] [ 2.24191319e-01 9.74544100e-01 -1.43164430e-03 3.51201483e+00] [ 6.30078636e-03 1.95314630e-05 9.99980150e-01 1.31359418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.481858064 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:27.45, Y:3.52, Z:0.13 [[ 9.75249021e-01 -2.21024091e-01 -6.13995800e-03 2.74467550e+01] [ 2.21019568e-01 9.75268348e-01 -1.41412469e-03 3.51862625e+00] [ 6.30066232e-03 2.20728499e-05 9.99980150e-01 1.29999287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.511858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:27.47, Y:3.53, Z:0.13 [[ 9.74304279e-01 -2.25151920e-01 -6.14687892e-03 2.74664159e+01] [ 2.25147673e-01 9.74323669e-01 -1.38337230e-03 3.53064952e+00] [ 6.30051855e-03 -3.61299296e-05 9.99980151e-01 1.26404596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.541858064 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:27.50, Y:3.54, Z:0.13 [[ 9.74094673e-01 -2.26057759e-01 -6.12028076e-03 2.74957123e+01] [ 2.26052789e-01 9.74113896e-01 -1.50119291e-03 3.53846689e+00] [ 6.30120684e-03 7.87974865e-05 9.99980144e-01 1.26450562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.571858064 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:27.52, Y:3.55, Z:0.13 [[ 9.74493684e-01 -2.24331244e-01 -6.12799648e-03 2.75228685e+01] [ 2.24326454e-01 9.74512950e-01 -1.46705615e-03 3.54527312e+00] [ 6.30091846e-03 5.49652391e-05 9.99980148e-01 1.27686758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601858063999998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:27.55, Y:3.55, Z:0.13 [[ 9.74505512e-01 -2.24279890e-01 -6.12688542e-03 2.75512643e+01] [ 2.24275067e-01 9.74524770e-01 -1.47196800e-03 3.55260328e+00] [ 6.30093442e-03 6.03332914e-05 9.99980147e-01 1.29581762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.631858064 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:27.58, Y:3.55, Z:0.13 [[ 9.75766054e-01 -2.18730464e-01 -6.13127441e-03 2.75848426e+01] [ 2.18725654e-01 9.75785314e-01 -1.45255036e-03 3.55437478e+00] [ 6.30052454e-03 7.62823264e-05 9.99980149e-01 1.30878106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.661858064 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:27.60, Y:3.56, Z:0.13 [[ 9.74519058e-01 -2.24220504e-01 -6.14588107e-03 2.76048375e+01] [ 2.24216210e-01 9.74538437e-01 -1.38786793e-03 3.56434372e+00] [ 6.30058578e-03 -2.55024099e-05 9.99980151e-01 1.28082036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.691858063999998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:27.63, Y:3.57, Z:0.13 [[ 9.74684686e-01 -2.23500151e-01 -6.11925802e-03 2.76323607e+01] [ 2.23495103e-01 9.74703890e-01 -1.50539765e-03 3.56948139e+00] [ 6.30092120e-03 9.96638339e-05 9.99980144e-01 1.27840211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:27.67, Y:3.57, Z:0.13 [[ 9.76119798e-01 -2.17146739e-01 -6.11827984e-03 2.76679940e+01] [ 2.17141540e-01 9.76138962e-01 -1.50971029e-03 3.57088201e+00] [ 6.30011999e-03 1.45125396e-04 9.99980144e-01 1.31467553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.751858064 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:27.70, Y:3.58, Z:0.13 [[ 9.76300352e-01 -2.16332751e-01 -6.14523424e-03 2.76964609e+01] [ 2.16328283e-01 9.76319692e-01 -1.39059522e-03 3.57752156e+00] [ 6.30054449e-03 2.82506255e-05 9.99980151e-01 1.29872554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781858063999998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:27.72, Y:3.58, Z:0.13 [[ 9.77263708e-01 -2.11938248e-01 -6.15013079e-03 2.77235386e+01] [ 2.11933829e-01 9.77283059e-01 -1.36897204e-03 3.58380467e+00] [ 6.30055617e-03 3.44259227e-05 9.99980151e-01 1.29838790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.811858064 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:27.75, Y:3.59, Z:0.13 [[ 9.77661413e-01 -2.10096183e-01 -6.14458392e-03 2.77508143e+01] [ 2.10091574e-01 9.77680719e-01 -1.39343194e-03 3.58934865e+00] [ 6.30019596e-03 7.13793258e-05 9.99980151e-01 1.29449847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.841858064 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:27.78, Y:3.59, Z:0.13 [[ 9.78020712e-01 -2.08417208e-01 -6.14446207e-03 2.77782203e+01] [ 2.08412563e-01 9.78040010e-01 -1.39396905e-03 3.59424936e+00] [ 6.30005688e-03 8.27475188e-05 9.99980151e-01 1.30551047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.871858063999998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:27.81, Y:3.60, Z:0.13 [[ 9.78297270e-01 -2.07115189e-01 -6.14406988e-03 2.78055063e+01] [ 2.07110507e-01 9.78316559e-01 -1.39569552e-03 3.59929000e+00] [ 6.29991505e-03 9.29036870e-05 9.99980151e-01 1.30958285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.901858064 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:27.83, Y:3.60, Z:0.13 [[ 9.78813979e-01 -2.04659351e-01 -6.14367869e-03 2.78342024e+01] [ 2.04654610e-01 9.78833253e-01 -1.39741537e-03 3.60332849e+00] [ 6.29963112e-03 1.10477535e-04 9.99980151e-01 1.30271228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.931858064 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:27.86, Y:3.61, Z:0.13 [[ 9.79390161e-01 -2.01883838e-01 -6.15042097e-03 2.78600178e+01] [ 2.01879229e-01 9.79409468e-01 -1.36776922e-03 3.60860324e+00] [ 6.29991103e-03 9.79374754e-05 9.99980151e-01 1.30552450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961858063999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:27.89, Y:3.61, Z:0.13 [[ 9.79667713e-01 -2.00532868e-01 -6.14336647e-03 2.78878258e+01] [ 2.00528037e-01 9.79686965e-01 -1.39875281e-03 3.61423710e+00] [ 6.29907197e-03 1.38395747e-04 9.99980151e-01 1.31166045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.991858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:27.92, Y:3.62, Z:0.13 [[ 9.80210762e-01 -1.97861381e-01 -6.14297979e-03 2.79155779e+01] [ 1.97856487e-01 9.80229998e-01 -1.40044897e-03 3.61845299e+00] [ 6.29862784e-03 1.57306747e-04 9.99980151e-01 1.31688251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021858064 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:27.94, Y:3.62, Z:0.13 [[ 9.80414609e-01 -1.96848825e-01 -6.14286011e-03 2.79434672e+01] [ 1.96843908e-01 9.80433839e-01 -1.40097376e-03 3.62351278e+00] [ 6.29844796e-03 1.64350551e-04 9.99980151e-01 1.32213114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.051858063999997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:27.97, Y:3.63, Z:0.14 [[ 9.80030186e-01 -1.98753871e-01 -6.14274192e-03 2.79690686e+01] [ 1.98748988e-01 9.80049425e-01 -1.40149178e-03 3.63152257e+00] [ 6.29874260e-03 1.52640509e-04 9.99980151e-01 1.35219564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081858064 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:28.00, Y:3.63, Z:0.13 [[ 9.80541178e-01 -1.96217657e-01 -6.13420324e-03 2.79995375e+01] [ 1.96212491e-01 9.80560344e-01 -1.43885522e-03 3.63448047e+00] [ 6.29728524e-03 2.07249491e-04 9.99980150e-01 1.34249621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.111858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.03, Y:3.64, Z:0.13 [[ 9.80457073e-01 -1.96637230e-01 -6.14229683e-03 2.80271535e+01] [ 1.96632294e-01 9.80476298e-01 -1.40343263e-03 3.63749155e+00] [ 6.29834356e-03 1.68231537e-04 9.99980151e-01 1.34055456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:28.06, Y:3.64, Z:0.13 [[ 9.80361443e-01 -1.97113467e-01 -6.14190745e-03 2.80554121e+01] [ 1.97108529e-01 9.80380668e-01 -1.40513463e-03 3.64153737e+00] [ 6.29837828e-03 1.66917465e-04 9.99980151e-01 1.34718375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.171858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.08, Y:3.64, Z:0.13 [[ 9.80349669e-01 -1.97172027e-01 -6.14151943e-03 2.80822961e+01] [ 1.97167079e-01 9.80368892e-01 -1.40682855e-03 3.64493350e+00] [ 6.29834183e-03 1.68278459e-04 9.99980151e-01 1.34783485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:28.11, Y:3.65, Z:0.14 [[ 9.80268263e-01 -1.97576353e-01 -6.14135107e-03 2.81107266e+01] [ 1.97571410e-01 9.80287487e-01 -1.40756311e-03 3.64765134e+00] [ 6.29839079e-03 1.66434058e-04 9.99980151e-01 1.35784950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.14, Y:3.65, Z:0.14 [[ 9.80231250e-01 -1.97759909e-01 -6.14123525e-03 2.81393861e+01] [ 1.97754966e-01 9.80250474e-01 -1.40806823e-03 3.65304960e+00] [ 6.29840821e-03 1.65772718e-04 9.99980151e-01 1.37769020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.17, Y:3.66, Z:0.14 [[ 9.80176087e-01 -1.98033148e-01 -6.14089209e-03 2.81672280e+01] [ 1.98028200e-01 9.80195310e-01 -1.40956327e-03 3.65951989e+00] [ 6.29841387e-03 1.65550401e-04 9.99980151e-01 1.37948554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.291858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:28.19, Y:3.66, Z:0.14 [[ 9.80169707e-01 -1.98064737e-01 -6.14049869e-03 2.81947729e+01] [ 1.98059780e-01 9.80188927e-01 -1.41127495e-03 3.66480088e+00] [ 6.29837262e-03 1.67103137e-04 9.99980151e-01 1.36879604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.321858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:28.22, Y:3.67, Z:0.14 [[ 9.80073001e-01 -1.98542711e-01 -6.14037695e-03 2.82222947e+01] [ 1.98537760e-01 9.80092223e-01 -1.41180442e-03 3.66978589e+00] [ 6.29843917e-03 1.64574710e-04 9.99980151e-01 1.37476361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.351858063999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:28.25, Y:3.67, Z:0.14 [[ 9.79712763e-01 -2.00312761e-01 -6.13998783e-03 2.82502824e+01] [ 2.00307834e-01 9.79731991e-01 -1.41349470e-03 3.67184979e+00] [ 6.29868353e-03 1.54931133e-04 9.99980151e-01 1.36404531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.28, Y:3.68, Z:0.14 [[ 9.79372425e-01 -2.01970184e-01 -6.13986719e-03 2.82779051e+01] [ 2.01965286e-01 9.79391660e-01 -1.41401855e-03 3.67502222e+00] [ 6.29892431e-03 1.44810748e-04 9.99980151e-01 1.37022213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.411858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:28.31, Y:3.68, Z:0.14 [[ 9.78914633e-01 -2.04177492e-01 -6.13948550e-03 2.83057608e+01] [ 2.04172627e-01 9.78933876e-01 -1.41567388e-03 3.67848899e+00] [ 6.29919908e-03 1.32308993e-04 9.99980151e-01 1.37981587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441858063999998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:28.33, Y:3.68, Z:0.14 [[ 9.77749873e-01 -2.09684279e-01 -6.13910443e-03 2.83341683e+01] [ 2.09679512e-01 9.77769141e-01 -1.41732446e-03 3.68201386e+00] [ 6.29981752e-03 9.85443958e-05 9.99980151e-01 1.39029197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.471858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.36, Y:3.69, Z:0.14 [[ 9.77153359e-01 -2.12446770e-01 -6.13870169e-03 2.83604097e+01] [ 2.12442046e-01 9.77172637e-01 -1.41906664e-03 3.68742513e+00] [ 6.30004745e-03 8.25273836e-05 9.99980151e-01 1.36850607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.39, Y:3.69, Z:0.14 [[ 9.76055534e-01 -2.17434847e-01 -6.13852732e-03 2.83890464e+01] [ 2.17430217e-01 9.76074836e-01 -1.41982054e-03 3.69141270e+00] [ 6.30038051e-03 5.11223671e-05 9.99980151e-01 1.38289883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.531858063999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.41, Y:3.70, Z:0.13 [[ 9.73904433e-01 -2.26875469e-01 -6.13817913e-03 2.84085589e+01] [ 2.26871017e-01 9.73923776e-01 -1.42132424e-03 3.70167042e+00] [ 6.30058220e-03 -8.34096554e-06 9.99980151e-01 1.31907217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.561858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:28.44, Y:3.71, Z:0.14 [[ 9.73495026e-01 -2.28626597e-01 -6.10847876e-03 2.84381809e+01] [ 2.28621378e-01 9.73514184e-01 -1.54887671e-03 3.70555588e+00] [ 6.30080513e-03 1.11294938e-04 9.99980144e-01 1.35529675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.591858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.47, Y:3.71, Z:0.14 [[ 9.74355942e-01 -2.24929243e-01 -6.11015375e-03 2.84734002e+01] [ 2.24923996e-01 9.74375092e-01 -1.54169255e-03 3.70511652e+00] [ 6.30035336e-03 1.27837102e-04 9.99980144e-01 1.42918208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.621858063999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.50, Y:3.71, Z:0.14 [[ 9.73701913e-01 -2.27743113e-01 -6.13675868e-03 2.84998999e+01] [ 2.27738640e-01 9.73721251e-01 -1.42730363e-03 3.71064871e+00] [ 6.30055091e-03 -7.80880254e-06 9.99980151e-01 1.41920842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.53, Y:3.72, Z:0.14 [[ 9.73467738e-01 -2.28742017e-01 -6.13624727e-03 2.85266874e+01] [ 2.28737550e-01 9.73487077e-01 -1.42949976e-03 3.71746404e+00] [ 6.30054408e-03 -1.20182760e-05 9.99980151e-01 1.42299669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.55, Y:3.72, Z:0.14 [[ 9.73385825e-01 -2.29090344e-01 -6.13594474e-03 2.85525336e+01] [ 2.29085876e-01 9.73405165e-01 -1.43079718e-03 3.72386562e+00] [ 6.30054211e-03 -1.29405847e-05 9.99980151e-01 1.40580535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.711858063999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.58, Y:3.73, Z:0.14 [[ 9.73365569e-01 -2.29176398e-01 -6.13576774e-03 2.85794181e+01] [ 2.29171927e-01 9.73384908e-01 -1.43155582e-03 3.72803794e+00] [ 6.30054252e-03 -1.27185690e-05 9.99980151e-01 1.40520991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:28.60, Y:3.74, Z:0.14 [[ 9.72935135e-01 -2.30996923e-01 -6.13560121e-03 2.86049701e+01] [ 2.30992483e-01 9.72954481e-01 -1.43226920e-03 3.73513819e+00] [ 6.30051046e-03 -2.37727310e-05 9.99980151e-01 1.37576573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.771858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:28.64, Y:3.74, Z:0.14 [[ 9.73487071e-01 -2.28659958e-01 -6.12752803e-03 2.86354789e+01] [ 2.28655255e-01 9.73506355e-01 -1.46683919e-03 3.73799017e+00] [ 6.30059486e-03 2.68575075e-05 9.99980151e-01 1.42735356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801858063999997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:28.66, Y:3.74, Z:0.14 [[ 9.73567688e-01 -2.28316256e-01 -6.13551199e-03 2.86616694e+01] [ 2.28311761e-01 9.73587021e-01 -1.43264675e-03 3.74344037e+00] [ 6.30055138e-03 -6.03095982e-06 9.99980151e-01 1.42571770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.69, Y:3.75, Z:0.14 [[ 9.73559010e-01 -2.28353266e-01 -6.13523678e-03 2.86888113e+01] [ 2.28348764e-01 9.73578341e-01 -1.43382435e-03 3.75153012e+00] [ 6.30055212e-03 -5.06112417e-06 9.99980151e-01 1.37466010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:28.72, Y:3.76, Z:0.14 [[ 9.74079704e-01 -2.26121918e-01 -6.13261525e-03 2.87165204e+01] [ 2.26117302e-01 9.74099008e-01 -1.44503336e-03 3.75686382e+00] [ 6.30052815e-03 2.08872547e-05 9.99980151e-01 1.40588449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.891858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.74, Y:3.76, Z:0.14 [[ 9.74253282e-01 -2.25372815e-01 -6.13493505e-03 2.87440480e+01] [ 2.25368246e-01 9.74272597e-01 -1.43511652e-03 3.76330912e+00] [ 6.30053536e-03 1.55474224e-05 9.99980151e-01 1.40400077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:28.77, Y:3.77, Z:0.14 [[ 9.73757457e-01 -2.27505568e-01 -6.13452692e-03 2.87687237e+01] [ 2.27501030e-01 9.73776780e-01 -1.43685900e-03 3.77211707e+00] [ 6.30055329e-03 3.54097351e-06 9.99980151e-01 1.35509722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.951858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.80, Y:3.77, Z:0.14 [[ 9.74767276e-01 -2.23139563e-01 -6.12311532e-03 2.88002045e+01] [ 2.23134633e-01 9.74786504e-01 -1.48548892e-03 3.77417694e+00] [ 6.30020152e-03 8.17268978e-05 9.99980150e-01 1.40654915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.83, Y:3.78, Z:0.14 [[ 9.74580156e-01 -2.23955113e-01 -6.13403585e-03 2.88269361e+01] [ 2.23950492e-01 9.74599459e-01 -1.43893583e-03 3.78147776e+00] [ 6.30048506e-03 2.86379602e-05 9.99980151e-01 1.37915645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.011858063999995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:28.85, Y:3.79, Z:0.13 [[ 9.73932946e-01 -2.26753257e-01 -6.12996053e-03 2.88471572e+01] [ 2.26748582e-01 9.73952237e-01 -1.45628859e-03 3.79075708e+00] [ 6.30050695e-03 2.83675766e-05 9.99980151e-01 1.33729571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.88, Y:3.79, Z:0.14 [[ 9.75591321e-01 -2.19509169e-01 -6.10738890e-03 2.88827858e+01] [ 2.19503747e-01 9.75610422e-01 -1.55259565e-03 3.79145407e+00] [ 6.29924123e-03 1.74104090e-04 9.99980144e-01 1.40394855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.91, Y:3.80, Z:0.14 [[ 9.74727320e-01 -2.23313707e-01 -6.13513730e-03 2.89052969e+01] [ 2.23309105e-01 9.74746627e-01 -1.43386786e-03 3.80174839e+00] [ 6.30040673e-03 2.75981547e-05 9.99980152e-01 1.35283082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.101858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.93, Y:3.81, Z:0.13 [[ 9.74685679e-01 -2.23495938e-01 -6.11502405e-03 2.89316226e+01] [ 2.23490800e-01 9.74704854e-01 -1.51966603e-03 3.80858650e+00] [ 6.29998281e-03 1.14545093e-04 9.99980148e-01 1.34640246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.96, Y:3.81, Z:0.14 [[ 9.75220438e-01 -2.21151035e-01 -6.10875058e-03 2.89609715e+01] [ 2.21145683e-01 9.75239558e-01 -1.54649879e-03 3.81284684e+00] [ 6.29950503e-03 1.57253402e-04 9.99980146e-01 1.36011377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.00, Y:3.81, Z:0.14 [[ 9.76599354e-01 -2.14979846e-01 -6.11294324e-03 2.89952513e+01] [ 2.14974485e-01 9.76618469e-01 -1.52858070e-03 3.81430330e+00] [ 6.29862732e-03 1.78684099e-04 9.99980147e-01 1.41831604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.191858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.02, Y:3.82, Z:0.14 [[ 9.76705847e-01 -2.14494861e-01 -6.13535097e-03 2.90227305e+01] [ 2.14490093e-01 9.76725114e-01 -1.43261714e-03 3.82011652e+00] [ 6.29984038e-03 8.32735378e-05 9.99980152e-01 1.41492647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:29.05, Y:3.83, Z:0.14 [[ 9.76727966e-01 -2.14394130e-01 -6.13494772e-03 2.90500962e+01] [ 2.14389349e-01 9.76747229e-01 -1.43434189e-03 3.82567282e+00] [ 6.29980767e-03 8.56943882e-05 9.99980152e-01 1.40605800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.08, Y:3.83, Z:0.14 [[ 9.76745334e-01 -2.14314994e-01 -6.13482285e-03 2.90786215e+01] [ 2.14310209e-01 9.76764596e-01 -1.43487580e-03 3.82972606e+00] [ 6.29979316e-03 8.67530836e-05 9.99980152e-01 1.39768680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.11, Y:3.84, Z:0.14 [[ 9.76695925e-01 -2.14540061e-01 -6.13447408e-03 2.91056173e+01] [ 2.14535270e-01 9.76715186e-01 -1.43636532e-03 3.83524587e+00] [ 6.29979190e-03 8.68310991e-05 9.99980152e-01 1.38107271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.13, Y:3.84, Z:0.14 [[ 9.76565752e-01 -2.15131822e-01 -6.13435034e-03 2.91330880e+01] [ 2.15127040e-01 9.76585015e-01 -1.43689357e-03 3.84116706e+00] [ 6.29983616e-03 8.35564224e-05 9.99980152e-01 1.37323317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.16, Y:3.85, Z:0.14 [[ 9.76222609e-01 -2.16683623e-01 -6.13396375e-03 2.91625945e+01] [ 2.16678861e-01 9.76241877e-01 -1.43854200e-03 3.84566370e+00] [ 6.29994078e-03 7.52369429e-05 9.99980152e-01 1.37838507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.371858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.19, Y:3.85, Z:0.14 [[ 9.76019393e-01 -2.17597062e-01 -6.13709064e-03 2.91907440e+01] [ 2.17592402e-01 9.76038685e-01 -1.42521309e-03 3.85095816e+00] [ 6.30016006e-03 5.56513205e-05 9.99980152e-01 1.38148512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.21, Y:3.86, Z:0.13 [[ 9.75104408e-01 -2.21661392e-01 -6.13352132e-03 2.92148419e+01] [ 2.21656716e-01 9.75123698e-01 -1.44041186e-03 3.85905541e+00] [ 6.30022569e-03 4.50157619e-05 9.99980152e-01 1.33165073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.25, Y:3.86, Z:0.14 [[ 9.74639753e-01 -2.23696078e-01 -6.11685153e-03 2.92469658e+01] [ 2.23690998e-01 9.74658942e-01 -1.51119864e-03 3.85980278e+00] [ 6.29989326e-03 1.04589642e-04 9.99980150e-01 1.39932669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.461858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.27, Y:3.86, Z:0.14 [[ 9.74038753e-01 -2.26298241e-01 -6.13303033e-03 2.92746310e+01] [ 2.26293644e-01 9.74058061e-01 -1.44240743e-03 3.86451370e+00] [ 6.30034190e-03 1.70949539e-05 9.99980153e-01 1.41180309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.30, Y:3.87, Z:0.14 [[ 9.73339347e-01 -2.29287851e-01 -6.13161340e-03 2.93023457e+01] [ 2.29283276e-01 9.73358660e-01 -1.44842700e-03 3.86963709e+00] [ 6.30036572e-03 3.93458195e-06 9.99980152e-01 1.42548688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52185806399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.33, Y:3.87, Z:0.14 [[ 9.72448885e-01 -2.33035530e-01 -6.13252970e-03 2.93297698e+01] [ 2.33031054e-01 9.72468221e-01 -1.44453703e-03 3.87399633e+00] [ 6.30031870e-03 -2.43314367e-05 9.99980152e-01 1.43992480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.36, Y:3.88, Z:0.14 [[ 9.71669462e-01 -2.36264365e-01 -6.13240782e-03 2.93571341e+01] [ 2.36259950e-01 9.71688812e-01 -1.44505423e-03 3.88110890e+00] [ 6.30020689e-03 -4.47273022e-05 9.99980152e-01 1.41782251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.39, Y:3.89, Z:0.15 [[ 9.72055921e-01 -2.34669394e-01 -6.12883895e-03 2.93859971e+01] [ 2.34664852e-01 9.72075242e-01 -1.46017848e-03 3.88582155e+00] [ 6.30035180e-03 -1.88479503e-05 9.99980152e-01 1.45700810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.41, Y:3.89, Z:0.15 [[ 9.72352575e-01 -2.33437079e-01 -6.13188263e-03 2.94132580e+01] [ 2.33432594e-01 9.72371909e-01 -1.44728295e-03 3.89305631e+00] [ 6.30031992e-03 -2.41119570e-05 9.99980152e-01 1.45160053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.44, Y:3.90, Z:0.14 [[ 9.72596718e-01 -2.32417791e-01 -6.13147381e-03 2.94404632e+01] [ 2.32413274e-01 9.72616045e-01 -1.44901287e-03 3.90069612e+00] [ 6.30034617e-03 -1.57307444e-05 9.99980152e-01 1.44113920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.671858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.47, Y:3.91, Z:0.14 [[ 9.72903897e-01 -2.31128573e-01 -6.13106254e-03 2.94678110e+01] [ 2.31124020e-01 9.72923215e-01 -1.45075095e-03 3.90801005e+00] [ 6.30036307e-03 -5.59456800e-06 9.99980152e-01 1.43772556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.50, Y:3.92, Z:0.14 [[ 9.73152142e-01 -2.30081124e-01 -6.13065143e-03 2.94953471e+01] [ 2.30076539e-01 9.73171453e-01 -1.45248614e-03 3.91506646e+00] [ 6.30036461e-03 2.97093530e-06 9.99980153e-01 1.43934367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.731858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:3.92, Z:0.14 [[ 9.73614651e-01 -2.28116049e-01 -6.13023703e-03 2.95230681e+01] [ 2.28111415e-01 9.73633950e-01 -1.45423302e-03 3.92271719e+00] [ 6.30034079e-03 1.74855289e-05 9.99980153e-01 1.44860918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761858063999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.55, Y:3.93, Z:0.14 [[ 9.73820963e-01 -2.27233706e-01 -6.12987583e-03 2.95499870e+01] [ 2.27229044e-01 9.73840255e-01 -1.45575399e-03 3.92957451e+00] [ 6.30031621e-03 2.47579330e-05 9.99980153e-01 1.44453156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.791858063999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.58, Y:3.94, Z:0.15 [[ 9.73912745e-01 -2.26840044e-01 -6.12855290e-03 2.95778554e+01] [ 2.26835340e-01 9.73932027e-01 -1.46131938e-03 3.93710805e+00] [ 6.30027970e-03 3.30251927e-05 9.99980152e-01 1.47708770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.60, Y:3.94, Z:0.15 [[ 9.74092401e-01 -2.26067240e-01 -6.13172176e-03 2.96041538e+01] [ 2.26062604e-01 9.74111699e-01 -1.44799614e-03 3.94405677e+00] [ 6.30032639e-03 2.43290470e-05 9.99980152e-01 1.48257782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.63, Y:3.95, Z:0.15 [[ 9.74155453e-01 -2.25795456e-01 -6.12912993e-03 2.96316348e+01] [ 2.25790746e-01 9.74174733e-01 -1.45888504e-03 3.95085662e+00] [ 6.30025313e-03 3.72799999e-05 9.99980153e-01 1.48397912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.66, Y:3.96, Z:0.15 [[ 9.74168830e-01 -2.25737746e-01 -6.12872548e-03 2.96590963e+01] [ 2.25733025e-01 9.74188107e-01 -1.46058215e-03 3.95760148e+00] [ 6.30024000e-03 3.93978617e-05 9.99980153e-01 1.48622651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.69, Y:3.96, Z:0.15 [[ 9.74110157e-01 -2.25990811e-01 -6.12832197e-03 2.96864306e+01] [ 2.25986083e-01 9.74129433e-01 -1.46227325e-03 3.96426076e+00] [ 6.30023912e-03 3.94997508e-05 9.99980153e-01 1.49752240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.71, Y:3.97, Z:0.15 [[ 9.74039273e-01 -2.26296139e-01 -6.12791819e-03 2.97145073e+01] [ 2.26291407e-01 9.74058548e-01 -1.46396343e-03 3.97131105e+00] [ 6.30024037e-03 3.92626487e-05 9.99980153e-01 1.50815377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.971858063999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.74, Y:3.98, Z:0.15 [[ 9.73828251e-01 -2.27202530e-01 -6.12756094e-03 2.97421835e+01] [ 2.27197807e-01 9.73847529e-01 -1.46545721e-03 3.97982661e+00] [ 6.30026566e-03 3.49352217e-05 9.99980153e-01 1.52586174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.77, Y:3.99, Z:0.15 [[ 9.73789055e-01 -2.27370478e-01 -6.12719801e-03 2.97686920e+01] [ 2.27365749e-01 9.73808330e-01 -1.46697307e-03 3.98638226e+00] [ 6.30026283e-03 3.54073610e-05 9.99980153e-01 1.53358812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.80, Y:3.99, Z:0.15 [[ 9.73750474e-01 -2.27535654e-01 -6.12701773e-03 2.97960032e+01] [ 2.27530923e-01 9.73769749e-01 -1.46772564e-03 3.99292080e+00] [ 6.30026443e-03 3.51125327e-05 9.99980153e-01 1.53790626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:4.00, Z:0.15 [[ 9.73732260e-01 -2.27613599e-01 -6.12660603e-03 2.98228750e+01] [ 2.27608859e-01 9.73751533e-01 -1.46944217e-03 3.99981459e+00] [ 6.30025703e-03 3.63734333e-05 9.99980153e-01 1.54084931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.85, Y:4.01, Z:0.15 [[ 9.74069216e-01 -2.26167265e-01 -6.12618768e-03 2.98493167e+01] [ 2.26162485e-01 9.74088480e-01 -1.47118421e-03 4.00710916e+00] [ 6.30018255e-03 4.75214268e-05 9.99980153e-01 1.53490565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.121858063999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.88, Y:4.01, Z:0.15 [[ 9.74148844e-01 -2.25824048e-01 -6.12605881e-03 2.98765980e+01] [ 2.25819258e-01 9.74168105e-01 -1.47172066e-03 4.01415335e+00] [ 6.30016102e-03 5.02929272e-05 9.99980153e-01 1.53280252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.151858063999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.90, Y:4.02, Z:0.15 [[ 9.74084591e-01 -2.26101054e-01 -6.12563960e-03 2.99043894e+01] [ 2.26096258e-01 9.74103850e-01 -1.47346342e-03 4.02090694e+00] [ 6.30016075e-03 5.02938173e-05 9.99980153e-01 1.53459703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.93, Y:4.03, Z:0.15 [[ 9.73879775e-01 -2.26981639e-01 -6.12522011e-03 2.99323383e+01] [ 2.26976850e-01 9.73899036e-01 -1.47520519e-03 4.02775747e+00] [ 6.30019046e-03 4.63893322e-05 9.99980153e-01 1.52115954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:4.03, Z:0.15 [[ 9.73760301e-01 -2.27493520e-01 -6.12978624e-03 2.99597315e+01] [ 2.27488860e-01 9.73779594e-01 -1.45625743e-03 4.03466277e+00] [ 6.30034988e-03 2.35875939e-05 9.99980152e-01 1.51474377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.99, Y:4.04, Z:0.15 [[ 9.73628803e-01 -2.28055736e-01 -6.12658602e-03 2.99853279e+01] [ 2.28051004e-01 9.73648078e-01 -1.46952486e-03 4.04155941e+00] [ 6.30027228e-03 3.35976402e-05 9.99980153e-01 1.51909883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.01, Y:4.05, Z:0.15 [[ 9.73253520e-01 -2.29652080e-01 -6.12440351e-03 3.00118855e+01] [ 2.29647322e-01 9.73272789e-01 -1.47856507e-03 4.04892738e+00] [ 6.30027083e-03 3.25657944e-05 9.99980153e-01 1.51915442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.04, Y:4.06, Z:0.15 [[ 9.72371808e-01 -2.33357152e-01 -6.12421994e-03 3.00386810e+01] [ 2.33352463e-01 9.72391094e-01 -1.47932505e-03 4.05709353e+00] [ 6.30034800e-03 9.35216834e-06 9.99980153e-01 1.46447875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.331858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.07, Y:4.06, Z:0.15 [[ 9.72100861e-01 -2.34483327e-01 -6.12248065e-03 3.00671321e+01] [ 2.34478615e-01 9.72120141e-01 -1.48651885e-03 4.05975429e+00] [ 6.30035064e-03 9.45546883e-06 9.99980153e-01 1.52913013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.09, Y:4.07, Z:0.15 [[ 9.71683637e-01 -2.36206287e-01 -6.12364504e-03 3.00946373e+01] [ 2.36201640e-01 9.71702933e-01 -1.48170660e-03 4.06573491e+00] [ 6.30035226e-03 -6.66493943e-06 9.99980153e-01 1.54687614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:4.07, Z:0.16 [[ 9.71053224e-01 -2.38784718e-01 -6.12322528e-03 3.01216903e+01] [ 2.38780111e-01 9.71072530e-01 -1.48343926e-03 4.07269138e+00] [ 6.30031849e-03 -2.16059342e-05 9.99980153e-01 1.56687686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:30.15, Y:4.08, Z:0.16 [[ 9.70796659e-01 -2.39825676e-01 -6.12309573e-03 3.01481504e+01] [ 2.39821086e-01 9.70815968e-01 -1.48397380e-03 4.07939388e+00] [ 6.30029413e-03 -2.78106655e-05 9.99980153e-01 1.57168238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.18, Y:4.09, Z:0.16 [[ 9.70550789e-01 -2.40818760e-01 -6.12291682e-03 3.01756382e+01] [ 2.40814185e-01 9.70570103e-01 -1.48471163e-03 4.08588640e+00] [ 6.30026642e-03 -3.34971805e-05 9.99980153e-01 1.57927941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481858063999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:30.20, Y:4.09, Z:0.16 [[ 9.70388722e-01 -2.41470999e-01 -6.12250763e-03 3.02027469e+01] [ 2.41466427e-01 9.70408035e-01 -1.48639710e-03 4.09200370e+00] [ 6.30025239e-03 -3.59970630e-05 9.99980153e-01 1.58569979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.511858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.23, Y:4.10, Z:0.16 [[ 9.70371883e-01 -2.41538670e-01 -6.12209905e-03 3.02304505e+01] [ 2.41534088e-01 9.70391194e-01 -1.48807803e-03 4.09699686e+00] [ 6.30025940e-03 -3.47065322e-05 9.99980153e-01 1.60141350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.26, Y:4.10, Z:0.16 [[ 9.70363461e-01 -2.41572510e-01 -6.12168622e-03 3.02574687e+01] [ 2.41567919e-01 9.70382770e-01 -1.48977442e-03 4.10326839e+00] [ 6.30026738e-03 -3.31803353e-05 9.99980153e-01 1.60515852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.571858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:30.28, Y:4.11, Z:0.16 [[ 9.70491575e-01 -2.41057321e-01 -6.12127519e-03 3.02846940e+01] [ 2.41052709e-01 9.70510879e-01 -1.49146136e-03 4.11039740e+00] [ 6.30029185e-03 -2.80992814e-05 9.99980153e-01 1.61061239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.31, Y:4.12, Z:0.16 [[ 9.70670000e-01 -2.40337881e-01 -6.11993695e-03 3.03118850e+01] [ 2.40333219e-01 9.70689293e-01 -1.49694884e-03 4.11793076e+00] [ 6.30033078e-03 -1.77808206e-05 9.99980153e-01 1.59992869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.35, Y:4.12, Z:0.16 [[ 9.71488028e-01 -2.37009607e-01 -6.12030800e-03 3.03463219e+01] [ 2.37004889e-01 9.71507306e-01 -1.49542817e-03 4.12153072e+00] [ 6.30035478e-03 2.24764133e-06 9.99980153e-01 1.59946683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.38, Y:4.13, Z:0.16 [[ 9.72002946e-01 -2.34888326e-01 -6.14387879e-03 3.03760560e+01] [ 2.34884176e-01 9.72022359e-01 -1.39877365e-03 4.12782992e+00] [ 6.30054316e-03 -8.34877949e-05 9.99980148e-01 1.59755569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.691858063999994 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:30.41, Y:4.13, Z:0.16 [[ 9.72217566e-01 -2.33998440e-01 -6.14289123e-03 3.04089799e+01] [ 2.33994246e-01 9.72236970e-01 -1.40281607e-03 4.13283466e+00] [ 6.30060272e-03 -7.35587807e-05 9.99980148e-01 1.60059571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.43, Y:4.14, Z:0.16 [[ 9.72398030e-01 -2.33246784e-01 -6.16518949e-03 3.04309395e+01] [ 2.33243154e-01 9.72417560e-01 -1.31140809e-03 4.13967471e+00] [ 6.30102024e-03 -1.62777600e-04 9.99980135e-01 1.62762962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.46, Y:4.15, Z:0.16 [[ 9.72811651e-01 -2.31516181e-01 -6.14402952e-03 3.04580329e+01] [ 2.31511970e-01 9.72831051e-01 -1.39776856e-03 4.14730224e+00] [ 6.30070873e-03 -6.26508394e-05 9.99980148e-01 1.62730297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:4.16, Z:0.16 [[ 9.72550427e-01 -2.32611197e-01 -6.13984521e-03 3.04795095e+01] [ 2.32606900e-01 9.72569806e-01 -1.41486062e-03 4.15928889e+00] [ 6.30054049e-03 -5.21470568e-05 9.99980150e-01 1.62063782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.51, Y:4.16, Z:0.17 [[ 9.73027857e-01 -2.30606492e-01 -6.11841267e-03 3.05145796e+01] [ 2.30601605e-01 9.73047092e-01 -1.50215725e-03 4.16475538e+00] [ 6.29991087e-03 5.07250688e-05 9.99980154e-01 1.65666178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:4.17, Z:0.16 [[ 9.73638158e-01 -2.28015265e-01 -6.14617621e-03 3.05430778e+01] [ 2.28011039e-01 9.73657556e-01 -1.38904211e-03 4.17133800e+00] [ 6.30099372e-03 -4.89716235e-05 9.99980147e-01 1.63653884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.871858063999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:30.56, Y:4.18, Z:0.17 [[ 9.72942565e-01 -2.30965189e-01 -6.15198772e-03 3.05605109e+01] [ 2.30961172e-01 9.72962010e-01 -1.36536474e-03 4.18228241e+00] [ 6.30100206e-03 -9.24488156e-05 9.99980144e-01 1.65361783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.60, Y:4.19, Z:0.17 [[ 9.73502576e-01 -2.28594226e-01 -6.11671682e-03 3.05969225e+01] [ 2.28589260e-01 9.73521790e-01 -1.50839284e-03 4.18592083e+00] [ 6.29956700e-03 7.02085459e-05 9.99980155e-01 1.65092169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.62, Y:4.20, Z:0.17 [[ 9.72582779e-01 -2.32475594e-01 -6.15111952e-03 3.06158394e+01] [ 2.32471587e-01 9.72602225e-01 -1.36852510e-03 4.19665716e+00] [ 6.30074122e-03 -9.89565674e-05 9.99980145e-01 1.67093643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.64, Y:4.20, Z:0.16 [[ 9.71742279e-01 -2.35965118e-01 -6.11608334e-03 3.06385533e+01] [ 2.35960285e-01 9.71761526e-01 -1.51039806e-03 4.20493951e+00] [ 6.29977573e-03 2.45648810e-05 9.99980156e-01 1.64568656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.991858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:30.67, Y:4.21, Z:0.16 [[ 9.71173800e-01 -2.38294550e-01 -6.09573188e-03 3.06661907e+01] [ 2.38289246e-01 9.71192926e-01 -1.59269169e-03 4.21320063e+00] [ 6.29966143e-03 9.42330936e-05 9.99980152e-01 1.62247650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.70, Y:4.22, Z:0.17 [[ 9.71516763e-01 -2.36892272e-01 -6.10173733e-03 3.06997470e+01] [ 2.36887093e-01 9.71535921e-01 -1.56839179e-03 4.21919717e+00] [ 6.29959689e-03 7.82961029e-05 9.99980154e-01 1.65806197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.051858063999994 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:30.73, Y:4.22, Z:0.16 [[ 9.72117002e-01 -2.34416424e-01 -6.12166465e-03 3.07326253e+01] [ 2.34411705e-01 9.72136276e-01 -1.48752433e-03 4.22291116e+00] [ 6.29979242e-03 1.10578469e-05 9.99980156e-01 1.62041908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.75, Y:4.23, Z:0.16 [[ 9.70841336e-01 -2.39644019e-01 -6.15179259e-03 3.07541287e+01] [ 2.39640181e-01 9.70860815e-01 -1.36447840e-03 4.23452463e+00] [ 6.29952346e-03 -1.49524661e-04 9.99980147e-01 1.64759613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.78, Y:4.24, Z:0.17 [[ 9.69963819e-01 -2.43172148e-01 -6.12337332e-03 3.07786342e+01] [ 2.43167652e-01 9.69983146e-01 -1.47965209e-03 4.24387538e+00] [ 6.29937909e-03 -5.37973225e-05 9.99980157e-01 1.65094337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.80, Y:4.25, Z:0.16 [[ 9.68827401e-01 -2.47661264e-01 -6.11277968e-03 3.08015677e+01] [ 2.47656587e-01 9.68846684e-01 -1.52249138e-03 4.25417840e+00] [ 6.29940846e-03 -3.88387857e-05 9.99980158e-01 1.60798541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.171858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:30.83, Y:4.26, Z:0.17 [[ 9.69187515e-01 -2.46248560e-01 -6.09984979e-03 3.08310167e+01] [ 2.46243526e-01 9.69206710e-01 -1.57471527e-03 4.26008428e+00] [ 6.29978671e-03 2.41458566e-05 9.99980156e-01 1.66122805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.86, Y:4.27, Z:0.17 [[ 9.69178790e-01 -2.46282728e-01 -6.10666348e-03 3.08598910e+01] [ 2.46277868e-01 9.69198028e-01 -1.54723232e-03 4.26777952e+00] [ 6.29962280e-03 -4.39131237e-06 9.99980157e-01 1.65391271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.231858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.89, Y:4.28, Z:0.17 [[ 9.68778727e-01 -2.47851446e-01 -6.11868248e-03 3.08881223e+01] [ 2.47846924e-01 9.68798047e-01 -1.49870161e-03 4.27530077e+00] [ 6.29922300e-03 -6.45863916e-05 9.99980158e-01 1.65963545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261858063999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:30.91, Y:4.28, Z:0.17 [[ 9.68193009e-01 -2.50129528e-01 -6.12512064e-03 3.09096434e+01] [ 2.50125215e-01 9.68212377e-01 -1.47271445e-03 4.28495031e+00] [ 6.29878699e-03 -1.06175287e-04 9.99980157e-01 1.65335425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.291858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.94, Y:4.29, Z:0.17 [[ 9.68547316e-01 -2.48754507e-01 -6.10670551e-03 3.09356039e+01] [ 2.48749696e-01 9.68566567e-01 -1.54716209e-03 4.29426112e+00] [ 6.29961434e-03 -2.05414510e-05 9.99980157e-01 1.68967386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.96, Y:4.30, Z:0.17 [[ 9.68564220e-01 -2.48688709e-01 -6.10555192e-03 3.09618742e+01] [ 2.48683868e-01 9.68583464e-01 -1.55182268e-03 4.30362173e+00] [ 6.29965740e-03 -1.53123463e-05 9.99980157e-01 1.67826453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.99, Y:4.31, Z:0.17 [[ 9.68746462e-01 -2.47977886e-01 -6.10407025e-03 3.09897728e+01] [ 2.47972993e-01 9.68765693e-01 -1.55780523e-03 4.31271202e+00] [ 6.29971509e-03 -4.52625680e-06 9.99980157e-01 1.66206630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.02, Y:4.32, Z:0.17 [[ 9.69307097e-01 -2.45777305e-01 -6.10472114e-03 3.10170655e+01] [ 2.45772385e-01 9.69326321e-01 -1.55517804e-03 4.32200539e+00] [ 6.29969435e-03 7.07323627e-06 9.99980157e-01 1.66075922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:31.04, Y:4.33, Z:0.17 [[ 9.69762418e-01 -2.43974482e-01 -6.10778623e-03 3.10437198e+01] [ 2.43969604e-01 9.69781652e-01 -1.54282506e-03 4.32995631e+00] [ 6.29962897e-03 6.05957474e-06 9.99980157e-01 1.66707699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.07, Y:4.34, Z:0.17 [[ 9.70030123e-01 -2.42907944e-01 -6.10658128e-03 3.10709795e+01] [ 2.42903014e-01 9.70049344e-01 -1.54768598e-03 4.33885262e+00] [ 6.29963038e-03 1.79950215e-05 9.99980157e-01 1.66254988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.471858063999996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:31.10, Y:4.35, Z:0.16 [[ 9.70080853e-01 -2.42705263e-01 -6.10692619e-03 3.10966993e+01] [ 2.42700338e-01 9.70100075e-01 -1.54629477e-03 4.34801430e+00] [ 6.29962343e-03 1.78778990e-05 9.99980157e-01 1.64364966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.12, Y:4.36, Z:0.16 [[ 9.70799553e-01 -2.39814460e-01 -6.10356825e-03 3.11236765e+01] [ 2.39809393e-01 9.70818738e-01 -1.55980045e-03 4.35847289e+00] [ 6.29952113e-03 5.05605844e-05 9.99980157e-01 1.64664341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.531858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.15, Y:4.37, Z:0.16 [[ 9.71016973e-01 -2.38932507e-01 -6.10703790e-03 3.11488177e+01] [ 2.38927510e-01 9.71036176e-01 -1.54584941e-03 4.36783604e+00] [ 6.29950840e-03 4.19066543e-05 9.99980157e-01 1.63762655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:31.18, Y:4.38, Z:0.16 [[ 9.71051914e-01 -2.38790595e-01 -6.10183371e-03 3.11760910e+01] [ 2.38785464e-01 9.71071083e-01 -1.56682926e-03 4.37660022e+00] [ 6.29945836e-03 6.44433549e-05 9.99980156e-01 1.64217777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.21, Y:4.38, Z:0.17 [[ 9.71807214e-01 -2.35697845e-01 -6.10452841e-03 3.12059101e+01] [ 2.35692720e-01 9.71826384e-01 -1.55596700e-03 4.38222399e+00] [ 6.29927984e-03 7.33070502e-05 9.99980157e-01 1.68901090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621858063999994 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:31.23, Y:4.39, Z:0.16 [[ 9.71138939e-01 -2.38436137e-01 -6.11312335e-03 3.12307606e+01] [ 2.38431285e-01 9.71158179e-01 -1.52132001e-03 4.39412784e+00] [ 6.29954741e-03 1.98532471e-05 9.99980157e-01 1.63793173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.651858063999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:31.26, Y:4.40, Z:0.16 [[ 9.70911509e-01 -2.39360751e-01 -6.10517631e-03 3.12582715e+01] [ 2.39355715e-01 9.70930702e-01 -1.55337757e-03 4.40270312e+00] [ 6.29952074e-03 4.68833237e-05 9.99980157e-01 1.63818067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:31.29, Y:4.41, Z:0.17 [[ 9.71336231e-01 -2.37631300e-01 -6.10663083e-03 3.12874542e+01] [ 2.37626267e-01 9.71355425e-01 -1.54751358e-03 4.40886686e+00] [ 6.29944665e-03 5.20601250e-05 9.99980157e-01 1.68358146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.711858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.32, Y:4.42, Z:0.17 [[ 9.71014139e-01 -2.38943834e-01 -6.11433676e-03 3.13155619e+01] [ 2.38939022e-01 9.71033390e-01 -1.51643510e-03 4.41757522e+00] [ 6.29956797e-03 1.15262791e-05 9.99980157e-01 1.68038524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741858064 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:31.34, Y:4.43, Z:0.16 [[ 9.69912495e-01 -2.43377014e-01 -6.11404663e-03 3.13390678e+01] [ 2.43372283e-01 9.69931765e-01 -1.51760396e-03 4.42851503e+00] [ 6.29955796e-03 -1.60464428e-05 9.99980157e-01 1.63639930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77185806399999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:31.36, Y:4.44, Z:0.16 [[ 9.69269606e-01 -2.45925134e-01 -6.10408439e-03 3.13630335e+01] [ 2.45920201e-01 9.69288826e-01 -1.55771273e-03 4.43760169e+00] [ 6.29970150e-03 8.72594989e-06 9.99980157e-01 1.62315843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801858063999994 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:31.38, Y:4.45, Z:0.16 [[ 9.67673531e-01 -2.52132483e-01 -6.09492727e-03 3.13805427e+01] [ 2.52127441e-01 9.67692725e-01 -1.59455462e-03 4.44982137e+00] [ 6.30005580e-03 6.30988704e-06 9.99980154e-01 1.58458320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.831858063999995 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:31.42, Y:4.45, Z:0.16 [[ 9.68772252e-01 -2.47878173e-01 -6.06093152e-03 3.14174894e+01] [ 2.47872188e-01 9.68791196e-01 -1.73149483e-03 4.45439613e+00] [ 6.30097687e-03 1.75087795e-04 9.99980133e-01 1.61291812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861858063999996 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:31.45, Y:4.46, Z:0.17 [[ 9.69732882e-01 -2.44092310e-01 -6.08952361e-03 3.14531568e+01] [ 2.44086973e-01 9.69751998e-01 -1.61606305e-03 4.45765525e+00] [ 6.29979625e-03 8.07760937e-05 9.99980153e-01 1.67668809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.891858064 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:31.48, Y:4.47, Z:0.17 [[ 9.69864012e-01 -2.43570022e-01 -6.11908415e-03 3.14804276e+01] [ 2.43565428e-01 9.69883314e-01 -1.49645968e-03 4.46540415e+00] [ 6.29929033e-03 -3.90349659e-05 9.99980159e-01 1.67719933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921858064 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:31.51, Y:4.47, Z:0.17 [[ 9.69923486e-01 -2.43333183e-01 -6.11500319e-03 3.15065903e+01] [ 2.43328480e-01 9.69942762e-01 -1.51295398e-03 4.47362892e+00] [ 6.29935499e-03 -2.05048297e-05 9.99980159e-01 1.67126063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95185806399999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:31.53, Y:4.48, Z:0.17 [[ 9.70028989e-01 -2.42912265e-01 -6.11481972e-03 3.15331885e+01] [ 2.42907549e-01 9.70048262e-01 -1.51369511e-03 4.48204470e+00] [ 6.29936535e-03 -1.70077344e-05 9.99980159e-01 1.66829540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.981858063999994 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:31.55, Y:4.49, Z:0.16 [[ 9.68943300e-01 -2.47207392e-01 -6.11439653e-03 3.15536820e+01] [ 2.47202751e-01 9.68962591e-01 -1.51540262e-03 4.49383106e+00] [ 6.29924024e-03 -4.31564238e-05 9.99980159e-01 1.62692720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.011858063999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:31.59, Y:4.50, Z:0.17 [[ 9.70410290e-01 -2.41385132e-01 -6.08986543e-03 3.15873548e+01] [ 2.41379755e-01 9.70429394e-01 -1.61403995e-03 4.49752121e+00] [ 6.29938967e-03 9.63107490e-05 9.99980154e-01 1.67111710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041858063999996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:31.61, Y:4.51, Z:0.17 [[ 9.70718930e-01 -2.40140334e-01 -6.11381151e-03 3.16145793e+01] [ 2.40135539e-01 9.70738183e-01 -1.51756877e-03 4.50535358e+00] [ 6.29933975e-03 4.98931234e-06 9.99980159e-01 1.68597421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.071858064 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:31.64, Y:4.51, Z:0.17 [[ 9.70650368e-01 -2.40417323e-01 -6.11337889e-03 3.16423033e+01] [ 2.40412523e-01 9.70669620e-01 -1.51930954e-03 4.51231173e+00] [ 6.29933950e-03 4.98552448e-06 9.99980159e-01 1.68776846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101858064 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:31.66, Y:4.52, Z:0.17 [[ 9.69868997e-01 -2.43550324e-01 -6.11294486e-03 3.16622014e+01] [ 2.43545575e-01 9.69888261e-01 -1.52105386e-03 4.52366768e+00] [ 6.29932663e-03 -1.35576867e-05 9.99980159e-01 1.65097545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13185806399999 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:31.68, Y:4.54, Z:0.16 [[ 9.68427172e-01 -2.49222314e-01 -6.08698341e-03 3.16766403e+01] [ 2.49217023e-01 9.68446300e-01 -1.62498138e-03 4.53755366e+00] [ 6.29989818e-03 5.66962385e-05 9.99980154e-01 1.61964832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16185806399999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:31.72, Y:4.54, Z:0.17 [[ 9.71513488e-01 -2.36907089e-01 -6.04756901e-03 3.17228803e+01] [ 2.36900566e-01 9.71532265e-01 -1.78345905e-03 4.53601061e+00] [ 6.29792251e-03 2.99982000e-04 9.99980123e-01 1.67249044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.191858063999994 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:31.75, Y:4.54, Z:0.17 [[ 9.71070428e-01 -2.38715168e-01 -6.10676303e-03 3.17513754e+01] [ 2.38710177e-01 9.71089629e-01 -1.54410937e-03 4.54476846e+00] [ 6.29881657e-03 4.16924572e-05 9.99980161e-01 1.67775494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221858063999996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:31.76, Y:4.56, Z:0.16 [[ 9.68077439e-01 -2.50576699e-01 -6.11475630e-03 3.17631386e+01] [ 2.50572147e-01 9.68096748e-01 -1.51177865e-03 4.56303501e+00] [ 6.29849220e-03 -6.86688167e-05 9.99980162e-01 1.59848973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.251858064 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:31.79, Y:4.57, Z:0.16 [[ 9.67639603e-01 -2.52263552e-01 -6.05804430e-03 3.17929785e+01] [ 2.52257598e-01 9.67658553e-01 -1.74016783e-03 4.57066742e+00] [ 6.30109930e-03 1.55667607e-04 9.99980136e-01 1.59227284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:31.84, Y:4.57, Z:0.17 [[ 9.70317540e-01 -2.41758432e-01 -6.06076529e-03 3.18362902e+01] [ 2.41752341e-01 9.70336445e-01 -1.72923772e-03 4.56813355e+00] [ 6.29903924e-03 2.12705495e-04 9.99980138e-01 1.68023398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31185806399999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:31.85, Y:4.58, Z:0.17 [[ 9.69484384e-01 -2.45076821e-01 -6.11396356e-03 3.18544686e+01] [ 2.45072144e-01 9.69503662e-01 -1.51447612e-03 4.57851918e+00] [ 6.29867306e-03 -3.01012054e-05 9.99980163e-01 1.65215646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34185806399999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:31.89, Y:4.58, Z:0.17 [[ 9.70054148e-01 -2.42812564e-01 -6.08350903e-03 3.18901317e+01] [ 2.42807071e-01 9.70073217e-01 -1.63699674e-03 4.58269721e+00] [ 6.29893256e-03 1.10856471e-04 9.99980155e-01 1.69269997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.371858063999994 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:31.92, Y:4.59, Z:0.17 [[ 9.69849659e-01 -2.43627363e-01 -6.11119652e-03 3.19168728e+01] [ 2.43622588e-01 9.69868913e-01 -1.52537278e-03 4.59013373e+00] [ 6.29868207e-03 -9.44323533e-06 9.99980163e-01 1.69042640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401858063999995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:31.94, Y:4.60, Z:0.16 [[ 9.68402032e-01 -2.49319335e-01 -6.11336331e-03 3.19366960e+01] [ 2.49314728e-01 9.68421327e-01 -1.51663874e-03 4.60308093e+00] [ 6.29843877e-03 -5.54354759e-05 9.99980163e-01 1.64036480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.431858064 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:31.96, Y:4.61, Z:0.16 [[ 9.68316393e-01 -2.49652326e-01 -6.08933752e-03 3.19641889e+01] [ 2.49647117e-01 9.68335538e-01 -1.61321716e-03 4.61114518e+00] [ 6.29926534e-03 4.19190625e-05 9.99980159e-01 1.62874937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.461858064 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:31.99, Y:4.62, Z:0.16 [[ 9.68286327e-01 -2.49768915e-01 -6.08911081e-03 3.19922183e+01] [ 2.49763703e-01 9.68305472e-01 -1.61412533e-03 4.61834827e+00] [ 6.29927765e-03 4.20966236e-05 9.99980158e-01 1.59684037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.491858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:32.03, Y:4.62, Z:0.17 [[ 9.69595704e-01 -2.44636525e-01 -6.09435660e-03 3.20257438e+01] [ 2.44631343e-01 9.69614855e-01 -1.59308982e-03 4.62039855e+00] [ 6.29890665e-03 5.37824047e-05 9.99980160e-01 1.67554145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52185806399999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:32.05, Y:4.63, Z:0.17 [[ 9.69640415e-01 -2.44458810e-01 -6.11200702e-03 3.20521042e+01] [ 2.44454072e-01 9.69659677e-01 -1.52222003e-03 4.62657025e+00] [ 6.29868686e-03 -1.80989374e-05 9.99980163e-01 1.66429775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.551858063999994 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:32.08, Y:4.63, Z:0.17 [[ 9.69741229e-01 -2.44058588e-01 -6.11182221e-03 3.20791988e+01] [ 2.44053836e-01 9.69760489e-01 -1.52296171e-03 4.63367453e+00] [ 6.29869558e-03 -1.47348993e-05 9.99980163e-01 1.68760668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.581858063999995 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:32.11, Y:4.64, Z:0.17 [[ 9.69664519e-01 -2.44363232e-01 -6.10995377e-03 3.21075890e+01] [ 2.44358439e-01 9.69683769e-01 -1.53045473e-03 4.64131624e+00] [ 6.29870986e-03 -8.99111791e-06 9.99980163e-01 1.68342212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.611858063999996 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:32.13, Y:4.65, Z:0.17 [[ 9.69261749e-01 -2.45955917e-01 -6.11132265e-03 3.21314312e+01] [ 2.45951191e-01 9.69281015e-01 -1.52496893e-03 4.65124930e+00] [ 6.29866416e-03 -2.49930335e-05 9.99980163e-01 1.65789477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641858064 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:32.16, Y:4.66, Z:0.17 [[ 9.69536349e-01 -2.44871466e-01 -6.10188828e-03 3.21588880e+01] [ 2.44866480e-01 9.69555550e-01 -1.56274341e-03 4.65865334e+00] [ 6.29879092e-03 2.09886343e-05 9.99980162e-01 1.65906907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.671858064 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:32.19, Y:4.66, Z:0.17 [[ 9.70492928e-01 -2.41052388e-01 -6.10111296e-03 3.21887280e+01] [ 2.41047308e-01 9.70512104e-01 -1.56584434e-03 4.66370155e+00] [ 6.29865449e-03 4.89840052e-05 9.99980162e-01 1.69915398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70185806399999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:32.22, Y:4.67, Z:0.17 [[ 9.70869038e-01 -2.39532820e-01 -6.11059238e-03 3.22153449e+01] [ 2.39527947e-01 9.70888267e-01 -1.52793378e-03 4.67065278e+00] [ 6.29869273e-03 1.97659500e-05 9.99980163e-01 1.69626459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.731858063999994 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:32.24, Y:4.68, Z:0.17 [[ 9.71702432e-01 -2.36129303e-01 -6.11040042e-03 3.22418797e+01] [ 2.36124358e-01 9.71721643e-01 -1.52870108e-03 4.67754641e+00] [ 6.29857945e-03 4.26281777e-05 9.99980163e-01 1.70923610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.761858063999995 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:32.27, Y:4.69, Z:0.17 [[ 9.71814259e-01 -2.35668727e-01 -6.10721884e-03 3.22704878e+01] [ 2.35663693e-01 9.71833446e-01 -1.54140848e-03 4.68524293e+00] [ 6.29846131e-03 5.87129962e-05 9.99980163e-01 1.68055170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.791858063999996 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:32.30, Y:4.69, Z:0.17 [[ 9.72075343e-01 -2.34589419e-01 -6.11007922e-03 3.22980700e+01] [ 2.34584436e-01 9.72094544e-01 -1.52998541e-03 4.69253520e+00] [ 6.29849306e-03 5.39316077e-05 9.99980163e-01 1.67354633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.821858064 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:32.33, Y:4.70, Z:0.17 [[ 9.72174841e-01 -2.34176750e-01 -6.10964462e-03 3.23256385e+01] [ 2.34171748e-01 9.72194037e-01 -1.53171891e-03 4.69965490e+00] [ 6.29845303e-03 5.83924260e-05 9.99980163e-01 1.66993377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.851858064 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:32.35, Y:4.71, Z:0.17 [[ 9.72252416e-01 -2.33854479e-01 -6.10920931e-03 3.23535808e+01] [ 2.33849460e-01 9.72271607e-01 -1.53345315e-03 4.70544756e+00] [ 6.29841565e-03 6.22682287e-05 9.99980163e-01 1.67903295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88185806399999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:32.38, Y:4.71, Z:0.17 [[ 9.72219348e-01 -2.33991928e-01 -6.10877571e-03 3.23802876e+01] [ 2.33986900e-01 9.72238537e-01 -1.53517853e-03 4.71137203e+00] [ 6.29840655e-03 6.31567749e-05 9.99980163e-01 1.68360101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91185806399999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:32.41, Y:4.72, Z:0.17 [[ 9.72058426e-01 -2.34659548e-01 -6.10848119e-03 3.24077843e+01] [ 2.34654526e-01 9.72077617e-01 -1.53634957e-03 4.71764533e+00] [ 6.29843693e-03 6.00387838e-05 9.99980163e-01 1.69370961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.941858063999994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.44, Y:4.72, Z:0.17 [[ 9.71688151e-01 -2.36188120e-01 -6.10804071e-03 3.24350490e+01] [ 2.36183118e-01 9.71707348e-01 -1.53809876e-03 4.72241816e+00] [ 6.29850869e-03 5.19362465e-05 9.99980163e-01 1.69612641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.971858063999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.46, Y:4.73, Z:0.17 [[ 9.71426969e-01 -2.37260069e-01 -6.10760381e-03 3.24622212e+01] [ 2.37255077e-01 9.71446168e-01 -1.53983168e-03 4.72824738e+00] [ 6.29854889e-03 4.67740135e-05 9.99980163e-01 1.69258940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:32.49, Y:4.74, Z:0.17 [[ 9.70480663e-01 -2.41101609e-01 -6.10716631e-03 3.24878168e+01] [ 2.41096682e-01 9.70499878e-01 -1.54156491e-03 4.73630131e+00] [ 6.29867794e-03 2.36414034e-05 9.99980163e-01 1.65000480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.031858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.52, Y:4.74, Z:0.17 [[ 9.70571412e-01 -2.40736236e-01 -6.09910673e-03 3.25169544e+01] [ 2.40731102e-01 9.70590573e-01 -1.57344833e-03 4.74055918e+00] [ 6.29852153e-03 5.88992844e-05 9.99980162e-01 1.67722467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06185806399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.55, Y:4.75, Z:0.17 [[ 9.69563613e-01 -2.44763375e-01 -6.10661189e-03 3.25458529e+01] [ 2.44758507e-01 9.69582843e-01 -1.54376039e-03 4.74508107e+00] [ 6.29872212e-03 2.12869960e-06 9.99980163e-01 1.69283208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09185806399999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.57, Y:4.75, Z:0.17 [[ 9.69096460e-01 -2.46606499e-01 -6.10623477e-03 3.25729705e+01] [ 2.46601658e-01 9.69115697e-01 -1.54525062e-03 4.75062521e+00] [ 6.29871681e-03 -8.31070861e-06 9.99980163e-01 1.69897436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121858063999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.60, Y:4.76, Z:0.17 [[ 9.68689229e-01 -2.48201323e-01 -6.10580573e-03 3.26001043e+01] [ 2.48196502e-01 9.68708472e-01 -1.54694403e-03 4.75677138e+00] [ 6.29869930e-03 -1.69316050e-05 9.99980163e-01 1.70222430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.63, Y:4.76, Z:0.17 [[ 9.68286598e-01 -2.49767467e-01 -6.10537906e-03 3.26268283e+01] [ 2.49762668e-01 9.68305846e-01 -1.54862618e-03 4.76229725e+00] [ 6.29867067e-03 -2.53817796e-05 9.99980163e-01 1.69880136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.65, Y:4.77, Z:0.17 [[ 9.68117620e-01 -2.50421644e-01 -6.10519413e-03 3.26539771e+01] [ 2.50416853e-01 9.68136870e-01 -1.54935488e-03 4.76921540e+00] [ 6.29865553e-03 -2.88857421e-05 9.99980163e-01 1.69459100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.211858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.68, Y:4.78, Z:0.17 [[ 9.68075048e-01 -2.50586178e-01 -6.10477279e-03 3.26817149e+01] [ 2.50581380e-01 9.68094296e-01 -1.55101326e-03 4.77642952e+00] [ 6.29865821e-03 -2.82451513e-05 9.99980163e-01 1.69747251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.71, Y:4.78, Z:0.17 [[ 9.67890760e-01 -2.51297051e-01 -6.10488861e-03 3.27096112e+01] [ 2.51292270e-01 9.67910012e-01 -1.55055755e-03 4.78371970e+00] [ 6.29863334e-03 -3.33409934e-05 9.99980163e-01 1.69260110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.74, Y:4.79, Z:0.17 [[ 9.67833398e-01 -2.51517894e-01 -6.10427920e-03 3.27369079e+01] [ 2.51513102e-01 9.67852648e-01 -1.55295297e-03 4.79020741e+00] [ 6.29863825e-03 -3.23064490e-05 9.99980163e-01 1.69878543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301858063999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.76, Y:4.80, Z:0.17 [[ 9.67836026e-01 -2.51507794e-01 -6.10384272e-03 3.27630504e+01] [ 2.51502991e-01 9.67855273e-01 -1.55466667e-03 4.79660920e+00] [ 6.29864714e-03 -3.04722839e-05 9.99980163e-01 1.70796820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.79, Y:4.80, Z:0.17 [[ 9.67998529e-01 -2.50881636e-01 -6.10354589e-03 3.27887869e+01] [ 2.50876813e-01 9.68017771e-01 -1.55583113e-03 4.80341641e+00] [ 6.29867034e-03 -2.51958996e-05 9.99980163e-01 1.71042458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.82, Y:4.81, Z:0.17 [[ 9.68495614e-01 -2.48955810e-01 -6.10335800e-03 3.28162382e+01] [ 2.48950944e-01 9.68514845e-01 -1.55656787e-03 4.81112581e+00] [ 6.29870944e-03 -1.19075812e-05 9.99980163e-01 1.71306526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.391858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.84, Y:4.82, Z:0.17 [[ 9.68787005e-01 -2.47819477e-01 -6.10293224e-03 3.28434830e+01] [ 2.47814578e-01 9.68806228e-01 -1.55823538e-03 4.81836298e+00] [ 6.29871984e-03 -2.79738623e-06 9.99980163e-01 1.71423175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.87, Y:4.83, Z:0.17 [[ 9.69135427e-01 -2.46453409e-01 -6.10250470e-03 3.28696054e+01] [ 2.46448472e-01 9.69154640e-01 -1.55990794e-03 4.82554363e+00] [ 6.29871538e-03 7.80908660e-06 9.99980163e-01 1.71294946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.90, Y:4.83, Z:0.17 [[ 9.69857691e-01 -2.43595610e-01 -6.10231947e-03 3.28951155e+01] [ 2.43590613e-01 9.69876888e-01 -1.56063222e-03 4.83351450e+00] [ 6.29866178e-03 2.71234272e-05 9.99980163e-01 1.70389264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481858063999994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.92, Y:4.84, Z:0.17 [[ 9.70074208e-01 -2.42731940e-01 -6.10213544e-03 3.29221252e+01] [ 2.42726921e-01 9.70093400e-01 -1.56135147e-03 4.84066176e+00] [ 6.29863118e-03 3.34742453e-05 9.99980163e-01 1.70588691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511858063999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.95, Y:4.85, Z:0.17 [[ 9.70239011e-01 -2.42072366e-01 -6.10171574e-03 3.29483436e+01] [ 2.42067323e-01 9.70258197e-01 -1.56298990e-03 4.84714444e+00] [ 6.29859638e-03 3.94477781e-05 9.99980163e-01 1.70970407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541858063999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:32.98, Y:4.85, Z:0.17 [[ 9.70253396e-01 -2.42014712e-01 -6.10143073e-03 3.29757061e+01] [ 2.42009661e-01 9.70272579e-01 -1.56410172e-03 4.85391871e+00] [ 6.29858656e-03 4.09698168e-05 9.99980163e-01 1.71768749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.571858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.00, Y:4.86, Z:0.17 [[ 9.70073249e-01 -2.42735800e-01 -6.10101801e-03 3.30032681e+01] [ 2.42730753e-01 9.70092434e-01 -1.56570995e-03 4.86008482e+00] [ 6.29860526e-03 3.79486456e-05 9.99980163e-01 1.72226438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.03, Y:4.87, Z:0.17 [[ 9.69876655e-01 -2.43520136e-01 -6.10056789e-03 3.30297256e+01] [ 2.43515094e-01 9.69895841e-01 -1.56746180e-03 4.86608357e+00] [ 6.29862394e-03 3.46642476e-05 9.99980163e-01 1.73350527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.06, Y:4.87, Z:0.17 [[ 9.69689307e-01 -2.44265091e-01 -6.10026274e-03 3.30555839e+01] [ 2.44260056e-01 9.69708494e-01 -1.56864850e-03 4.87243932e+00] [ 6.29864267e-03 3.10511565e-05 9.99980163e-01 1.73959989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.09, Y:4.88, Z:0.18 [[ 9.70287016e-01 -2.41879920e-01 -6.10008602e-03 3.30882126e+01] [ 2.41874833e-01 9.70306190e-01 -1.56933542e-03 4.87631301e+00] [ 6.29854195e-03 4.72484933e-05 9.99980163e-01 1.76610123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.11, Y:4.89, Z:0.17 [[ 9.69100541e-01 -2.46590121e-01 -6.11985565e-03 3.31092186e+01] [ 2.46585613e-01 9.69119863e-01 -1.49241140e-03 4.88592001e+00] [ 6.29888757e-03 -6.27716571e-05 9.99980160e-01 1.73203543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721858063999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:33.14, Y:4.89, Z:0.17 [[ 9.68974927e-01 -2.47083769e-01 -6.09936281e-03 3.31369774e+01] [ 2.47078769e-01 9.68994123e-01 -1.57192739e-03 4.89226882e+00] [ 6.29864447e-03 1.61351758e-05 9.99980163e-01 1.72932963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.17, Y:4.89, Z:0.18 [[ 9.70309473e-01 -2.41789846e-01 -6.09891006e-03 3.31737847e+01] [ 2.41784731e-01 9.70328639e-01 -1.57368206e-03 4.89208695e+00] [ 6.29844744e-03 5.23352782e-05 9.99980163e-01 1.75490673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781858064 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:33.20, Y:4.90, Z:0.17 [[ 9.70673295e-01 -2.40324194e-01 -6.13478160e-03 3.32020773e+01] [ 2.40319930e-01 9.70692678e-01 -1.43396740e-03 4.89777738e+00] [ 6.29960464e-03 -8.23964192e-05 9.99980154e-01 1.74957292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81185806399999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.22, Y:4.91, Z:0.17 [[ 9.69741533e-01 -2.44056694e-01 -6.13920141e-03 3.32237906e+01] [ 2.44052614e-01 9.69760957e-01 -1.41677332e-03 4.90924143e+00] [ 6.29933085e-03 -1.24384220e-04 9.99980151e-01 1.74869386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.25, Y:4.92, Z:0.17 [[ 9.69631739e-01 -2.44493220e-01 -6.11197750e-03 3.32507384e+01] [ 2.44488485e-01 9.69651002e-01 -1.52177339e-03 4.91740737e+00] [ 6.29854839e-03 -1.87483421e-05 9.99980164e-01 1.73896992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.871858063999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:33.28, Y:4.92, Z:0.17 [[ 9.69801756e-01 -2.43818059e-01 -6.10802946e-03 3.32768342e+01] [ 2.43813214e-01 9.69820991e-01 -1.53697979e-03 4.92462508e+00] [ 6.29843861e-03 1.34740215e-06 9.99980165e-01 1.71166969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.901858063999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.30, Y:4.93, Z:0.17 [[ 9.69634451e-01 -2.44482662e-01 -6.10408923e-03 3.33024240e+01] [ 2.44477735e-01 9.69653664e-01 -1.55214348e-03 4.93212669e+00] [ 6.29832466e-03 1.26978764e-05 9.99980165e-01 1.70285179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.33, Y:4.94, Z:0.17 [[ 9.69921669e-01 -2.43340851e-01 -6.09806563e-03 3.33318086e+01] [ 2.43335756e-01 9.69940837e-01 -1.57528707e-03 4.93824440e+00] [ 6.29809458e-03 4.40276470e-05 9.99980166e-01 1.70761468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.36, Y:4.95, Z:0.17 [[ 9.69833252e-01 -2.43692863e-01 -6.10341826e-03 3.33594700e+01] [ 2.43687904e-01 9.69852457e-01 -1.55472116e-03 4.94556695e+00] [ 6.29828964e-03 2.04910743e-05 9.99980165e-01 1.70949310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.991858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.39, Y:4.95, Z:0.17 [[ 9.69842948e-01 -2.43654298e-01 -6.10246390e-03 3.33863880e+01] [ 2.43649316e-01 9.69862146e-01 -1.55838084e-03 4.95298403e+00] [ 6.29825493e-03 2.45235148e-05 9.99980165e-01 1.69665986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.41, Y:4.96, Z:0.17 [[ 9.69993979e-01 -2.43052383e-01 -6.10078258e-03 3.34116412e+01] [ 2.43047348e-01 9.70013164e-01 -1.56482150e-03 4.96027396e+00] [ 6.29817301e-03 3.50884103e-05 9.99980166e-01 1.70163759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.051858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.44, Y:4.97, Z:0.17 [[ 9.69594422e-01 -2.44641631e-01 -6.09343374e-03 3.34412212e+01] [ 2.44636451e-01 9.69613567e-01 -1.59293297e-03 4.96648988e+00] [ 6.29797375e-03 5.38229217e-05 9.99980166e-01 1.68546031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.47, Y:4.97, Z:0.17 [[ 9.69215857e-01 -2.46136997e-01 -6.09925479e-03 3.34717247e+01] [ 2.46131986e-01 9.69235048e-01 -1.57068770e-03 4.97045345e+00] [ 6.29821586e-03 2.11137313e-05 9.99980166e-01 1.69917807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.50, Y:4.98, Z:0.17 [[ 9.68990567e-01 -2.47022305e-01 -6.10420958e-03 3.35003705e+01] [ 2.47017431e-01 9.69009794e-01 -1.55177110e-03 4.97664061e+00] [ 6.29836094e-03 -4.19461076e-06 9.99980165e-01 1.70203853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.53, Y:4.98, Z:0.17 [[ 9.69071822e-01 -2.46703345e-01 -6.10441905e-03 3.35302267e+01] [ 2.46698469e-01 9.69091048e-01 -1.55097181e-03 4.98248123e+00] [ 6.29836779e-03 -2.94776279e-06 9.99980165e-01 1.73586137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.56, Y:4.99, Z:0.17 [[ 9.69277906e-01 -2.45892198e-01 -6.11287098e-03 3.35579250e+01] [ 2.45887510e-01 9.69297181e-01 -1.51871498e-03 4.98630390e+00] [ 6.29862877e-03 -3.10217506e-05 9.99980163e-01 1.72449131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.58, Y:4.99, Z:0.17 [[ 9.69047311e-01 -2.46799285e-01 -6.11730130e-03 3.35782832e+01] [ 2.46794722e-01 9.69066618e-01 -1.50180496e-03 4.99469884e+00] [ 6.29871687e-03 -5.43976154e-05 9.99980161e-01 1.71430844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.61, Y:5.00, Z:0.17 [[ 9.69547442e-01 -2.44827805e-01 -6.09132660e-03 3.36129037e+01] [ 2.44822580e-01 9.69566575e-01 -1.60065250e-03 4.99816362e+00] [ 6.29783090e-03 6.06142480e-05 9.99980167e-01 1.70761710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.63, Y:5.00, Z:0.17 [[ 9.69235790e-01 -2.46058002e-01 -6.11909879e-03 3.36339223e+01] [ 2.46053468e-01 9.69255104e-01 -1.49477018e-03 5.00436727e+00] [ 6.29876790e-03 -5.68407228e-05 9.99980161e-01 1.71061710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.291858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.66, Y:5.01, Z:0.17 [[ 9.69189425e-01 -2.46241266e-01 -6.09070389e-03 3.36615869e+01] [ 2.46236056e-01 9.69208562e-01 -1.60268017e-03 5.00990611e+00] [ 6.29780835e-03 5.35497720e-05 9.99980167e-01 1.71536054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:33.69, Y:5.02, Z:0.17 [[ 9.69086914e-01 -2.46644405e-01 -6.09025162e-03 3.36877848e+01] [ 2.46639193e-01 9.69106049e-01 -1.60439696e-03 5.01537330e+00] [ 6.29781522e-03 5.27053593e-05 9.99980167e-01 1.71948258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.351858064 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:33.72, Y:5.02, Z:0.17 [[ 9.69542681e-01 -2.44846689e-01 -6.09005525e-03 3.37229402e+01] [ 2.44841436e-01 9.69561806e-01 -1.60514199e-03 5.01821340e+00] [ 6.29769867e-03 6.51557953e-05 9.99980167e-01 1.71143220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.74, Y:5.03, Z:0.17 [[ 9.68391797e-01 -2.49358768e-01 -6.12630555e-03 3.37425228e+01] [ 2.49354474e-01 9.68411170e-01 -1.46724634e-03 5.02609413e+00] [ 6.29865346e-03 -1.06752375e-04 9.99980158e-01 1.72269552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.77, Y:5.03, Z:0.17 [[ 9.68159120e-01 -2.50261542e-01 -6.08929248e-03 3.37704800e+01] [ 2.50256382e-01 9.68178268e-01 -1.60745770e-03 5.03201386e+00] [ 6.29780549e-03 3.23905326e-05 9.99980168e-01 1.72394393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:33.80, Y:5.04, Z:0.17 [[ 9.67551147e-01 -2.52601868e-01 -6.08885250e-03 3.38006832e+01] [ 2.52596744e-01 9.67570305e-01 -1.60912256e-03 5.03829839e+00] [ 6.29786024e-03 1.88840665e-05 9.99980168e-01 1.73266835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.83, Y:5.04, Z:0.17 [[ 9.67398768e-01 -2.53184553e-01 -6.09971212e-03 3.38267064e+01] [ 2.53179699e-01 9.67417997e-01 -1.56805310e-03 5.04261385e+00] [ 6.29797811e-03 -2.73906409e-05 9.99980167e-01 1.73342166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.85, Y:5.05, Z:0.17 [[ 9.67306115e-01 -2.53538595e-01 -6.08776605e-03 3.38545624e+01] [ 2.53533464e-01 9.67325271e-01 -1.61313604e-03 5.04851032e+00] [ 6.29784220e-03 1.69439463e-05 9.99980168e-01 1.73517222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.88, Y:5.05, Z:0.17 [[ 9.67299718e-01 -2.53563009e-01 -6.08730560e-03 3.38813225e+01] [ 2.53557868e-01 9.67318872e-01 -1.61487175e-03 5.05426902e+00] [ 6.29783732e-03 1.85807611e-05 9.99980168e-01 1.73807000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56185806399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:33.91, Y:5.06, Z:0.17 [[ 9.67267548e-01 -2.53685708e-01 -6.08710619e-03 3.39099191e+01] [ 2.53680564e-01 9.67286701e-01 -1.61562305e-03 5.05889358e+00] [ 6.29783734e-03 1.85592147e-05 9.99980168e-01 1.72305730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.94, Y:5.06, Z:0.17 [[ 9.67645734e-01 -2.52239269e-01 -6.08971477e-03 3.39364959e+01] [ 2.52234158e-01 9.67664896e-01 -1.60580489e-03 5.06482058e+00] [ 6.29785026e-03 1.78161748e-05 9.99980168e-01 1.73856720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.96, Y:5.07, Z:0.17 [[ 9.67630839e-01 -2.52296487e-01 -6.08617425e-03 3.39634056e+01] [ 2.52291293e-01 9.67649979e-01 -1.61911356e-03 5.07138190e+00] [ 6.29778305e-03 3.12154452e-05 9.99980168e-01 1.72991698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.651858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.99, Y:5.08, Z:0.17 [[ 9.68385083e-01 -2.49385835e-01 -6.08569430e-03 3.39900351e+01] [ 2.49380573e-01 9.68404204e-01 -1.62091550e-03 5.07692614e+00] [ 6.29764531e-03 5.20164587e-05 9.99980168e-01 1.72945139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.00, Y:5.09, Z:0.17 [[ 9.66878140e-01 -2.55165885e-01 -6.08548706e-03 3.40042588e+01] [ 2.55160733e-01 9.66897291e-01 -1.62169319e-03 5.08793313e+00] [ 6.29784173e-03 1.52023617e-05 9.99980168e-01 1.69113064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.711858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.05, Y:5.09, Z:0.17 [[ 9.69197908e-01 -2.46209311e-01 -6.03235273e-03 3.40456567e+01] [ 2.46202739e-01 9.69216641e-01 -1.82042394e-03 5.08944905e+00] [ 6.29486198e-03 2.79169308e-04 9.99980148e-01 1.72597066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:34.06, Y:5.10, Z:0.17 [[ 9.67721728e-01 -2.51947656e-01 -6.08566884e-03 3.40605481e+01] [ 2.51942449e-01 9.67740863e-01 -1.62015741e-03 5.10141417e+00] [ 6.29754527e-03 3.46232212e-05 9.99980170e-01 1.67282774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.10, Y:5.10, Z:0.17 [[ 9.70179178e-01 -2.42313794e-01 -6.03228854e-03 3.41019570e+01] [ 2.42307150e-01 9.70197883e-01 -1.81996792e-03 5.10080261e+00] [ 6.29351690e-03 3.04028341e-04 9.99980149e-01 1.72741184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.11, Y:5.11, Z:0.17 [[ 9.67891189e-01 -2.51295859e-01 -6.08582477e-03 3.41146894e+01] [ 2.51290648e-01 9.67910321e-01 -1.61868669e-03 5.11404290e+00] [ 6.29730187e-03 3.74017335e-05 9.99980171e-01 1.68532844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.831858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.16, Y:5.11, Z:0.18 [[ 9.69817126e-01 -2.43758911e-01 -6.02791421e-03 3.41581866e+01] [ 2.43752208e-01 9.69835810e-01 -1.83400298e-03 5.11325632e+00] [ 6.29314163e-03 3.09330100e-04 9.99980150e-01 1.75441504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.18, Y:5.12, Z:0.18 [[ 9.69755934e-01 -2.44000741e-01 -6.08820260e-03 3.41832332e+01] [ 2.43995449e-01 9.69775042e-01 -1.60876320e-03 5.11888454e+00] [ 6.29672634e-03 7.46139386e-05 9.99980173e-01 1.77004900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.21, Y:5.13, Z:0.18 [[ 9.69631747e-01 -2.44493923e-01 -6.08248624e-03 3.42109802e+01] [ 2.44488507e-01 9.69650820e-01 -1.63009307e-03 5.12538397e+00] [ 6.29643562e-03 9.34920138e-05 9.99980173e-01 1.77231001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:5.14, Z:0.17 [[ 9.67721897e-01 -2.51947096e-01 -6.08202523e-03 3.42267398e+01] [ 2.51941816e-01 9.67741008e-01 -1.63181132e-03 5.13724368e+00] [ 6.29695535e-03 4.68230704e-05 9.99980173e-01 1.73707661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.27, Y:5.14, Z:0.18 [[ 9.69409083e-01 -2.45376415e-01 -6.03693983e-03 3.42668543e+01] [ 2.45369959e-01 9.69427845e-01 -1.79928678e-03 5.13540424e+00] [ 6.29388011e-03 2.62961271e-04 9.99980159e-01 1.76796312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.29, Y:5.14, Z:0.17 [[ 9.68310320e-01 -2.49676056e-01 -6.08203044e-03 3.42890533e+01] [ 2.49670735e-01 9.68329419e-01 -1.63115990e-03 5.14448065e+00] [ 6.29667057e-03 6.09639526e-05 9.99980174e-01 1.73842794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.011858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.32, Y:5.15, Z:0.17 [[ 9.68198948e-01 -2.50108095e-01 -6.06113029e-03 3.43189611e+01] [ 2.50102295e-01 9.68217910e-01 -1.70900722e-03 5.14919319e+00] [ 6.29593144e-03 1.38756397e-04 9.99980171e-01 1.73413262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.35, Y:5.15, Z:0.17 [[ 9.68193498e-01 -2.50129069e-01 -6.06631628e-03 3.43473637e+01] [ 2.50123390e-01 9.68212495e-01 -1.68968672e-03 5.15473872e+00] [ 6.29612298e-03 1.18616099e-04 9.99980172e-01 1.74228809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.37, Y:5.16, Z:0.17 [[ 9.67920950e-01 -2.51181633e-01 -6.06815035e-03 3.43744288e+01] [ 2.51176018e-01 9.67939965e-01 -1.68285519e-03 5.16059680e+00] [ 6.29630756e-03 1.04696953e-04 9.99980173e-01 1.74264453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.40, Y:5.16, Z:0.17 [[ 9.67679394e-01 -2.52110650e-01 -6.06712625e-03 3.44049940e+01] [ 2.52105029e-01 9.67698408e-01 -1.68666807e-03 5.16411069e+00] [ 6.29637540e-03 1.02600904e-04 9.99980172e-01 1.74385842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.43, Y:5.17, Z:0.17 [[ 9.67114202e-01 -2.54269919e-01 -6.07684730e-03 3.44324390e+01] [ 2.54264568e-01 9.67133293e-01 -1.65046969e-03 5.16982530e+00] [ 6.29678614e-03 5.10657208e-05 9.99980174e-01 1.74932817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.46, Y:5.17, Z:0.18 [[ 9.66770869e-01 -2.55572203e-01 -6.07741919e-03 3.44609272e+01] [ 2.55566891e-01 9.66789971e-01 -1.64834232e-03 5.17426029e+00] [ 6.29685840e-03 4.03822079e-05 9.99980174e-01 1.75281849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.191858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.49, Y:5.18, Z:0.17 [[ 9.66066292e-01 -2.58222660e-01 -6.08092107e-03 3.44884571e+01] [ 2.58217482e-01 9.66085430e-01 -1.63532061e-03 5.17964454e+00] [ 6.29696609e-03 9.62799265e-06 9.99980174e-01 1.74652701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.52, Y:5.18, Z:0.18 [[ 9.65177415e-01 -2.61525558e-01 -6.07787796e-03 3.45161491e+01] [ 2.61520374e-01 9.65196551e-01 -1.64662124e-03 5.18443181e+00] [ 6.29698039e-03 -2.07286527e-07 9.99980174e-01 1.76284297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.251858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:34.54, Y:5.19, Z:0.18 [[ 9.64782177e-01 -2.62979815e-01 -6.08017438e-03 3.45430605e+01] [ 2.62974714e-01 9.64801335e-01 -1.63809758e-03 5.19124898e+00] [ 6.29694696e-03 -1.85247632e-05 9.99980174e-01 1.75866096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.57, Y:5.20, Z:0.18 [[ 9.63814290e-01 -2.66505255e-01 -6.07971959e-03 3.45672722e+01] [ 2.66500213e-01 9.63833465e-01 -1.63978376e-03 5.19760351e+00] [ 6.29684819e-03 -3.97995493e-05 9.99980174e-01 1.76059365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.60, Y:5.20, Z:0.18 [[ 9.64101733e-01 -2.65463850e-01 -6.06572901e-03 3.45974426e+01] [ 2.65458461e-01 9.64120814e-01 -1.69155487e-03 5.20336055e+00] [ 6.29714226e-03 2.06318904e-05 9.99980173e-01 1.76109932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.62, Y:5.21, Z:0.18 [[ 9.64051509e-01 -2.65645876e-01 -6.07923271e-03 3.46247257e+01] [ 2.65640806e-01 9.64070676e-01 -1.64154586e-03 5.21031126e+00] [ 6.29687987e-03 -3.23575109e-05 9.99980174e-01 1.76430636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.371858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.65, Y:5.22, Z:0.18 [[ 9.64231434e-01 -2.64992055e-01 -6.07878680e-03 3.46508639e+01] [ 2.64986962e-01 9.64250595e-01 -1.64319544e-03 5.21799487e+00] [ 6.29690752e-03 -2.63785481e-05 9.99980174e-01 1.77217706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401858063999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:34.68, Y:5.23, Z:0.18 [[ 9.64134113e-01 -2.65346123e-01 -6.07024943e-03 3.46785866e+01] [ 2.65340838e-01 9.64153222e-01 -1.67473188e-03 5.22572344e+00] [ 6.29703416e-03 3.98106666e-06 9.99980173e-01 1.76418741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.71, Y:5.23, Z:0.18 [[ 9.65118888e-01 -2.61741543e-01 -6.07427140e-03 3.47052667e+01] [ 2.61736280e-01 9.65138003e-01 -1.65988150e-03 5.23366190e+00] [ 6.29697011e-03 1.21257826e-05 9.99980174e-01 1.76355381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:5.24, Z:0.18 [[ 9.65240395e-01 -2.61293016e-01 -6.07781970e-03 3.47321255e+01] [ 2.61287827e-01 9.65259530e-01 -1.64678572e-03 5.24240070e+00] [ 6.29696699e-03 1.48379402e-06 9.99980174e-01 1.75496851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.75, Y:5.25, Z:0.17 [[ 9.64580011e-01 -2.63720457e-01 -6.07645763e-03 3.47516542e+01] [ 2.63715284e-01 9.64599150e-01 -1.65180793e-03 5.25293416e+00] [ 6.29696140e-03 -9.15384346e-06 9.99980174e-01 1.71628385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.79, Y:5.26, Z:0.18 [[ 9.65782783e-01 -2.59281736e-01 -6.04957511e-03 3.47860284e+01] [ 2.59275855e-01 9.65801722e-01 -1.75059686e-03 5.25794969e+00] [ 6.29658786e-03 1.22187549e-04 9.99980169e-01 1.75303617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.81, Y:5.27, Z:0.18 [[ 9.66025132e-01 -2.58376683e-01 -6.07732892e-03 3.48140639e+01] [ 2.58371425e-01 9.66044248e-01 -1.64843035e-03 5.26548707e+00] [ 6.29688461e-03 2.22170082e-05 9.99980174e-01 1.76208394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581858063999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:34.84, Y:5.27, Z:0.18 [[ 9.66322684e-01 -2.57261598e-01 -6.07785666e-03 3.48391451e+01] [ 2.57256331e-01 9.66341797e-01 -1.64648851e-03 5.27240772e+00] [ 6.29686520e-03 2.74720867e-05 9.99980174e-01 1.76715053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:5.28, Z:0.18 [[ 9.66451848e-01 -2.56776080e-01 -6.07207782e-03 3.48674834e+01] [ 2.56770670e-01 9.66470921e-01 -1.66772122e-03 5.27967390e+00] [ 6.29671756e-03 5.26407705e-05 9.99980174e-01 1.76840481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.89, Y:5.29, Z:0.18 [[ 9.66160170e-01 -2.57871310e-01 -6.07573057e-03 3.48939646e+01] [ 2.57866005e-01 9.66179273e-01 -1.65430584e-03 5.28873106e+00] [ 6.29684296e-03 3.16000363e-05 9.99980174e-01 1.76423358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.92, Y:5.30, Z:0.18 [[ 9.66161835e-01 -2.57865175e-01 -6.07131820e-03 3.49213010e+01] [ 2.57859768e-01 9.66180909e-01 -1.67049825e-03 5.29617096e+00] [ 6.29675506e-03 4.84229522e-05 9.99980174e-01 1.76880425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.95, Y:5.30, Z:0.18 [[ 9.65849835e-01 -2.59031321e-01 -6.07212016e-03 3.49511894e+01] [ 2.59025956e-01 9.65868921e-01 -1.66755351e-03 5.30399866e+00] [ 6.29682074e-03 3.77695531e-05 9.99980174e-01 1.75944027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.731858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.98, Y:5.31, Z:0.18 [[ 9.65254089e-01 -2.61242277e-01 -6.08409545e-03 3.49772225e+01] [ 2.61237233e-01 9.65273263e-01 -1.62357785e-03 5.31282184e+00] [ 6.29696184e-03 -2.22271059e-05 9.99980174e-01 1.76545486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.00, Y:5.32, Z:0.18 [[ 9.64794804e-01 -2.62933577e-01 -6.07624612e-03 3.50024775e+01] [ 2.62928385e-01 9.64813938e-01 -1.65237137e-03 5.32166131e+00] [ 6.29691086e-03 -3.41826964e-06 9.99980174e-01 1.76727608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.791858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.03, Y:5.33, Z:0.18 [[ 9.64477334e-01 -2.64095769e-01 -6.07438554e-03 3.50295410e+01] [ 2.64090557e-01 9.64496462e-01 -1.65918931e-03 5.32944033e+00] [ 6.29690824e-03 -3.93737546e-06 9.99980174e-01 1.75537527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:35.06, Y:5.34, Z:0.17 [[ 9.64113610e-01 -2.65420508e-01 -6.07456454e-03 3.50567062e+01] [ 2.65415326e-01 9.64132747e-01 -1.65853369e-03 5.33680125e+00] [ 6.29689545e-03 -1.32676239e-05 9.99980174e-01 1.74898181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.851858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.08, Y:5.34, Z:0.17 [[ 9.63305424e-01 -2.68338901e-01 -6.07411990e-03 3.50841906e+01] [ 2.68333767e-01 9.63324573e-01 -1.66016054e-03 5.34399641e+00] [ 6.29683461e-03 -3.06498232e-05 9.99980174e-01 1.73565769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88185806399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.11, Y:5.35, Z:0.17 [[ 9.63234681e-01 -2.68592739e-01 -6.07373286e-03 3.51117467e+01] [ 2.68587602e-01 9.63253829e-01 -1.66157532e-03 5.35163026e+00] [ 6.29683350e-03 -3.08423715e-05 9.99980174e-01 1.73745205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91185806399999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:35.14, Y:5.36, Z:0.17 [[ 9.62842392e-01 -2.69995634e-01 -6.07329459e-03 3.51383477e+01] [ 2.69990514e-01 9.62861546e-01 -1.66317571e-03 5.35919558e+00] [ 6.29679200e-03 -3.83558491e-05 9.99980174e-01 1.72871661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941858063999994 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.16, Y:5.37, Z:0.17 [[ 9.61366826e-01 -2.75203501e-01 -6.07109376e-03 3.51601765e+01] [ 2.75198434e-01 9.61385994e-01 -1.67121030e-03 5.36855463e+00] [ 6.29658743e-03 -6.41093514e-05 9.99980174e-01 1.68756006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.971858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.19, Y:5.37, Z:0.17 [[ 9.62182837e-01 -2.72337250e-01 -6.05066278e-03 3.51919058e+01] [ 2.72331656e-01 9.62201861e-01 -1.74593154e-03 5.37440688e+00] [ 6.29744119e-03 3.21183506e-05 9.99980170e-01 1.71164299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.22, Y:5.38, Z:0.17 [[ 9.61732923e-01 -2.73921577e-01 -6.06259446e-03 3.52190653e+01] [ 2.73916287e-01 9.61752031e-01 -1.70242028e-03 5.38271864e+00] [ 6.29704218e-03 -2.33697353e-05 9.99980173e-01 1.70456540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.25, Y:5.39, Z:0.17 [[ 9.60223633e-01 -2.79166298e-01 -6.06247416e-03 3.52478811e+01] [ 2.79161110e-01 9.60242769e-01 -1.70285881e-03 5.39148148e+00] [ 6.29682776e-03 -5.72817430e-05 9.99980173e-01 1.73019304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06185806399999 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:35.27, Y:5.40, Z:0.17 [[ 9.60621494e-01 -2.77793933e-01 -6.07259339e-03 3.52713794e+01] [ 2.77788951e-01 9.60640684e-01 -1.66597351e-03 5.39661733e+00] [ 6.29637760e-03 -8.65293899e-05 9.99980174e-01 1.71203410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.30, Y:5.40, Z:0.17 [[ 9.59889792e-01 -2.80312154e-01 -6.05667827e-03 3.52999132e+01] [ 2.80306855e-01 9.59908899e-01 -1.72412806e-03 5.40428858e+00] [ 6.29715342e-03 -4.27555103e-05 9.99980172e-01 1.74924732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121858063999994 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:35.33, Y:5.41, Z:0.18 [[ 9.58928318e-01 -2.83583661e-01 -6.06535111e-03 3.53274340e+01] [ 2.83578627e-01 9.58947495e-01 -1.69237159e-03 5.41206583e+00] [ 6.29628218e-03 -9.71408958e-05 9.99980174e-01 1.76614987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.35, Y:5.42, Z:0.18 [[ 9.57973805e-01 -2.86791368e-01 -6.07450468e-03 3.53537300e+01] [ 2.86786612e-01 9.57993052e-01 -1.65885239e-03 5.42115835e+00] [ 6.29507783e-03 -1.52949482e-04 9.99980174e-01 1.77406326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.38, Y:5.43, Z:0.18 [[ 9.58151048e-01 -2.86198665e-01 -6.07404331e-03 3.53793872e+01] [ 2.86193886e-01 9.58170289e-01 -1.66054004e-03 5.42961492e+00] [ 6.29521217e-03 -1.47305876e-04 9.99980174e-01 1.76574892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.211858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:35.40, Y:5.44, Z:0.17 [[ 9.57627142e-01 -2.87946993e-01 -6.06520555e-03 3.54023465e+01] [ 2.87942044e-01 9.57646341e-01 -1.69281724e-03 5.44023893e+00] [ 6.29576353e-03 -1.25339951e-04 9.99980174e-01 1.74974674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.43, Y:5.45, Z:0.18 [[ 9.58355721e-01 -2.85513042e-01 -6.05096604e-03 3.54344742e+01] [ 2.85507716e-01 9.58374822e-01 -1.74479618e-03 5.44821065e+00] [ 6.29725556e-03 -5.54620910e-05 9.99980171e-01 1.76563198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:35.46, Y:5.46, Z:0.18 [[ 9.59010179e-01 -2.83306525e-01 -6.07359424e-03 3.54615502e+01] [ 2.83301678e-01 9.59029404e-01 -1.66210944e-03 5.45637219e+00] [ 6.29564191e-03 -1.26679567e-04 9.99980174e-01 1.76796369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.49, Y:5.47, Z:0.18 [[ 9.58787130e-01 -2.84060481e-01 -6.07313485e-03 3.54898003e+01] [ 2.84055638e-01 9.58806355e-01 -1.66378631e-03 5.46561455e+00] [ 6.29557623e-03 -1.29891291e-04 9.99980174e-01 1.75536467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.331858063999995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:35.51, Y:5.48, Z:0.17 [[ 9.59214255e-01 -2.82614675e-01 -6.07934490e-03 3.55141299e+01] [ 2.82609947e-01 9.59233509e-01 -1.64111991e-03 5.47639418e+00] [ 6.29531591e-03 -1.43897731e-04 9.99980174e-01 1.73678064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361858063999996 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:35.54, Y:5.48, Z:0.17 [[ 9.59935053e-01 -2.80156778e-01 -6.07242740e-03 3.55391689e+01] [ 2.80151840e-01 9.59954254e-01 -1.66632863e-03 5.48460898e+00] [ 6.29608577e-03 -1.01634452e-04 9.99980174e-01 1.70995669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.57, Y:5.49, Z:0.18 [[ 9.59776158e-01 -2.80700890e-01 -6.06116878e-03 3.55678820e+01] [ 2.80695705e-01 9.59795294e-01 -1.70728838e-03 5.49498152e+00] [ 6.29671864e-03 -6.27293596e-05 9.99980174e-01 1.75044410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.59, Y:5.51, Z:0.17 [[ 9.60413351e-01 -2.78512708e-01 -6.07182116e-03 3.55937318e+01] [ 2.78507724e-01 9.60432540e-01 -1.66852401e-03 5.50513027e+00] [ 6.29627976e-03 -8.85763563e-05 9.99980174e-01 1.73927255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45185806399999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:35.61, Y:5.51, Z:0.17 [[ 9.60078348e-01 -2.79665360e-01 -6.07063543e-03 3.56144818e+01] [ 2.79660371e-01 9.60097536e-01 -1.67283514e-03 5.51481197e+00] [ 6.29623615e-03 -9.16633635e-05 9.99980174e-01 1.71615851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.64, Y:5.52, Z:0.17 [[ 9.60372106e-01 -2.78655500e-01 -6.04412239e-03 3.56421582e+01] [ 2.78649881e-01 9.60391125e-01 -1.76957626e-03 5.52367449e+00] [ 6.29782366e-03 1.52576898e-05 9.99980168e-01 1.73455593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.511858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.68, Y:5.53, Z:0.18 [[ 9.61883516e-01 -2.73392618e-01 -6.04795921e-03 3.56761926e+01] [ 2.73386984e-01 9.61902529e-01 -1.75558913e-03 5.53225446e+00] [ 6.29751237e-03 3.52389220e-05 9.99980170e-01 1.76082135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.70, Y:5.54, Z:0.18 [[ 9.62576939e-01 -2.70940488e-01 -6.07366570e-03 3.57015030e+01] [ 2.70935396e-01 9.62596099e-01 -1.66171203e-03 5.54109939e+00] [ 6.29671198e-03 -4.60453421e-05 9.99980174e-01 1.77793365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:5.55, Z:0.18 [[ 9.62830520e-01 -2.70038060e-01 -6.06927316e-03 3.57291768e+01] [ 2.70032849e-01 9.62849648e-01 -1.67773825e-03 5.55158999e+00] [ 6.29685071e-03 -2.35255298e-05 9.99980174e-01 1.76476733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.76, Y:5.56, Z:0.18 [[ 9.63013371e-01 -2.69385169e-01 -6.07269427e-03 3.57566375e+01] [ 2.69380024e-01 9.63032517e-01 -1.66525727e-03 5.56120595e+00] [ 6.29679766e-03 -3.21975127e-05 9.99980174e-01 1.77710596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.79, Y:5.57, Z:0.18 [[ 9.63837902e-01 -2.66419997e-01 -6.07317127e-03 3.57865067e+01] [ 2.66414804e-01 9.63857036e-01 -1.66351822e-03 5.57052626e+00] [ 6.29686338e-03 -1.46208178e-05 9.99980174e-01 1.78260771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.81, Y:5.58, Z:0.18 [[ 9.64015819e-01 -2.65775292e-01 -6.08226300e-03 3.58141075e+01] [ 2.65770296e-01 9.64035006e-01 -1.63037413e-03 5.57894133e+00] [ 6.29682761e-03 -4.47783831e-05 9.99980174e-01 1.78597986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.84, Y:5.59, Z:0.18 [[ 9.63914349e-01 -2.66143076e-01 -6.08197162e-03 3.58364703e+01] [ 2.66138079e-01 9.63933536e-01 -1.63143503e-03 5.59013360e+00] [ 6.29681155e-03 -4.60806141e-05 9.99980174e-01 1.77611793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721858063999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:35.87, Y:5.60, Z:0.18 [[ 9.63569480e-01 -2.67389307e-01 -6.06759966e-03 3.58688864e+01] [ 2.67384006e-01 9.63588584e-01 -1.68369187e-03 5.59844637e+00] [ 6.29687097e-03 -2.50055194e-08 9.99980175e-01 1.76474922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.89, Y:5.61, Z:0.18 [[ 9.63648003e-01 -2.67105686e-01 -6.08920225e-03 3.58912765e+01] [ 2.67100875e-01 9.63667238e-01 -1.60508204e-03 5.60691362e+00] [ 6.29669126e-03 -7.96971404e-05 9.99980172e-01 1.77474922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.92, Y:5.62, Z:0.18 [[ 9.63295885e-01 -2.68373148e-01 -6.07386545e-03 3.59172813e+01] [ 2.68368011e-01 9.63315033e-01 -1.66079665e-03 5.61634386e+00] [ 6.29675912e-03 -3.01926091e-05 9.99980175e-01 1.76476773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.95, Y:5.62, Z:0.18 [[ 9.63204389e-01 -2.68701403e-01 -6.07137415e-03 3.59470572e+01] [ 2.68696215e-01 9.63223523e-01 -1.66984054e-03 5.62403994e+00] [ 6.29677889e-03 -2.29575215e-05 9.99980175e-01 1.76263945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.97, Y:5.63, Z:0.18 [[ 9.62333417e-01 -2.71803975e-01 -6.08221034e-03 3.59720231e+01] [ 2.71799098e-01 9.62352634e-01 -1.63051565e-03 5.63368342e+00] [ 6.29641178e-03 -8.40395840e-05 9.99980174e-01 1.77379459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.00, Y:5.64, Z:0.18 [[ 9.61804129e-01 -2.73671083e-01 -6.07915186e-03 3.59976407e+01] [ 2.73666173e-01 9.61823337e-01 -1.64160309e-03 5.64230448e+00] [ 6.29632942e-03 -8.47575947e-05 9.99980174e-01 1.77375201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.03, Y:5.65, Z:0.18 [[ 9.60697707e-01 -2.77530244e-01 -6.07290020e-03 3.60266926e+01] [ 2.77525268e-01 9.60716897e-01 -1.66423155e-03 5.65003192e+00] [ 6.29621242e-03 -8.65598217e-05 9.99980175e-01 1.78271363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.05, Y:5.66, Z:0.18 [[ 9.60021049e-01 -2.79861788e-01 -6.07997631e-03 3.60539663e+01] [ 2.79857020e-01 9.60040293e-01 -1.63868377e-03 5.65803407e+00] [ 6.29562721e-03 -1.28353136e-04 9.99980174e-01 1.80356662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.08, Y:5.67, Z:0.18 [[ 9.59090514e-01 -2.83034409e-01 -6.07533042e-03 3.60826613e+01] [ 2.83029598e-01 9.59109747e-01 -1.65543726e-03 5.66568673e+00] [ 6.29545433e-03 -1.31784160e-04 9.99980175e-01 1.80152118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.11, Y:5.68, Z:0.18 [[ 9.58818131e-01 -2.83955464e-01 -6.08986655e-03 3.61068705e+01] [ 2.83951005e-01 9.58837451e-01 -1.60297151e-03 5.67526995e+00] [ 6.29436464e-03 -1.92265581e-04 9.99980172e-01 1.80410781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.13, Y:5.68, Z:0.18 [[ 9.58695410e-01 -2.84369836e-01 -6.07513871e-03 3.61338512e+01] [ 2.84365049e-01 9.58714648e-01 -1.65601066e-03 5.68465236e+00] [ 6.29524395e-03 -1.39947300e-04 9.99980175e-01 1.80235499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.051858063999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:36.16, Y:5.69, Z:0.18 [[ 9.58518653e-01 -2.84965038e-01 -6.07611265e-03 3.61599601e+01] [ 2.84960284e-01 9.58537900e-01 -1.65250547e-03 5.69284103e+00] [ 6.29509054e-03 -1.47493468e-04 9.99980175e-01 1.78339213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.19, Y:5.70, Z:0.18 [[ 9.59161561e-01 -2.82793554e-01 -6.07501586e-03 3.61851669e+01] [ 2.82788732e-01 9.59180791e-01 -1.65644878e-03 5.70288501e+00] [ 6.29547156e-03 -1.29144036e-04 9.99980175e-01 1.79127520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.111858063999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:36.21, Y:5.71, Z:0.18 [[ 9.59352276e-01 -2.82145918e-01 -6.07376698e-03 3.62130910e+01] [ 2.82141055e-01 9.59371496e-01 -1.66093084e-03 5.71144955e+00] [ 6.29562376e-03 -1.20241242e-04 9.99980175e-01 1.79257693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:36.24, Y:5.72, Z:0.18 [[ 9.59590561e-01 -2.81334408e-01 -6.07512857e-03 3.62383935e+01] [ 2.81329559e-01 9.59609784e-01 -1.65604835e-03 5.72065481e+00] [ 6.29565619e-03 -1.19984881e-04 9.99980175e-01 1.76995444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.171858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:36.27, Y:5.73, Z:0.18 [[ 9.60160946e-01 -2.79381653e-01 -6.07047456e-03 3.62660520e+01] [ 2.79376660e-01 9.60180131e-01 -1.67271187e-03 5.73079191e+00] [ 6.29607406e-03 -8.98762977e-05 9.99980175e-01 1.80898579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.29, Y:5.74, Z:0.18 [[ 9.60900034e-01 -2.76828912e-01 -6.07280031e-03 3.62911840e+01] [ 2.76823920e-01 9.60919220e-01 -1.66439267e-03 5.74213009e+00] [ 6.29622254e-03 -8.17814129e-05 9.99980175e-01 1.79391762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.32, Y:5.75, Z:0.18 [[ 9.61246284e-01 -2.75624280e-01 -6.06941177e-03 3.63175124e+01] [ 2.75619188e-01 9.61265443e-01 -1.67650103e-03 5.75184111e+00] [ 6.29640019e-03 -6.13159592e-05 9.99980176e-01 1.80829096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.34, Y:5.76, Z:0.18 [[ 9.61550402e-01 -2.74561484e-01 -6.06767505e-03 3.63434107e+01] [ 2.74556332e-01 9.61569545e-01 -1.68270130e-03 5.76091071e+00] [ 6.29649650e-03 -4.79164943e-05 9.99980176e-01 1.80482956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.291858063999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.37, Y:5.77, Z:0.18 [[ 9.61592474e-01 -2.74414088e-01 -6.06818552e-03 3.63698431e+01] [ 2.74408944e-01 9.61611619e-01 -1.68087802e-03 5.77160738e+00] [ 6.29649432e-03 -4.88447269e-05 9.99980176e-01 1.81841780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:36.40, Y:5.78, Z:0.18 [[ 9.61449803e-01 -2.74913483e-01 -6.07063289e-03 3.63952514e+01] [ 2.74908405e-01 9.61468966e-01 -1.67214353e-03 5.78025210e+00] [ 6.29641994e-03 -6.11859319e-05 9.99980175e-01 1.81684689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.42, Y:5.79, Z:0.18 [[ 9.60606621e-01 -2.77845579e-01 -6.06259395e-03 3.64220349e+01] [ 2.77840378e-01 9.60625750e-01 -1.70079883e-03 5.79072146e+00] [ 6.29644329e-03 -5.06347727e-05 9.99980176e-01 1.84534917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.45, Y:5.80, Z:0.19 [[ 9.60029021e-01 -2.79834823e-01 -6.06217943e-03 3.64499888e+01] [ 2.79829652e-01 9.60048159e-01 -1.70227503e-03 5.79891829e+00] [ 6.29634003e-03 -6.21441304e-05 9.99980176e-01 1.85746626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.48, Y:5.81, Z:0.19 [[ 9.59656930e-01 -2.81108156e-01 -6.06485026e-03 3.64777028e+01] [ 2.81103070e-01 9.59676090e-01 -1.69277359e-03 5.80640025e+00] [ 6.29614424e-03 -8.03661222e-05 9.99980176e-01 1.87172173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.441858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.50, Y:5.82, Z:0.19 [[ 9.59197009e-01 -2.82673473e-01 -6.06678239e-03 3.65047416e+01] [ 2.82668462e-01 9.59216190e-01 -1.68590550e-03 5.81500046e+00] [ 6.29591665e-03 -9.77725364e-05 9.99980176e-01 1.88465100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.53, Y:5.82, Z:0.19 [[ 9.59236291e-01 -2.82540110e-01 -6.06823940e-03 3.65301376e+01] [ 2.82535129e-01 9.59255480e-01 -1.68072990e-03 5.82406759e+00] [ 6.29586551e-03 -1.02273692e-04 9.99980176e-01 1.89322920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.56, Y:5.84, Z:0.19 [[ 9.58874944e-01 -2.83764126e-01 -6.06325754e-03 3.65563158e+01] [ 2.83759058e-01 9.58894109e-01 -1.69840776e-03 5.83542625e+00] [ 6.29596913e-03 -9.19436093e-05 9.99980176e-01 1.86179715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.58, Y:5.85, Z:0.19 [[ 9.60081997e-01 -2.79653104e-01 -6.05817915e-03 3.65840297e+01] [ 2.79647840e-01 9.60101109e-01 -1.71641339e-03 5.84512605e+00] [ 6.29646485e-03 -4.62591218e-05 9.99980176e-01 1.87094920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.61, Y:5.85, Z:0.19 [[ 9.60470863e-01 -2.78314438e-01 -6.06579420e-03 3.66093207e+01] [ 2.78309319e-01 9.60490015e-01 -1.68942143e-03 5.85431378e+00] [ 6.29632514e-03 -6.55269882e-05 9.99980176e-01 1.86434587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:5.86, Z:0.19 [[ 9.60978300e-01 -2.76557408e-01 -6.05858228e-03 3.66383810e+01] [ 2.76552092e-01 9.60997398e-01 -1.71495920e-03 5.86250352e+00] [ 6.29656647e-03 -2.74750258e-05 9.99980176e-01 1.87629745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.67, Y:5.87, Z:0.19 [[ 9.61284767e-01 -2.75490169e-01 -6.06331496e-03 3.66651101e+01] [ 2.75484937e-01 9.61303888e-01 -1.69820975e-03 5.87108215e+00] [ 6.29652834e-03 -3.78887750e-05 9.99980176e-01 1.87263308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.69, Y:5.88, Z:0.19 [[ 9.62051643e-01 -2.72800063e-01 -6.06309310e-03 3.66915241e+01] [ 2.72794773e-01 9.62070748e-01 -1.69899397e-03 5.88145683e+00] [ 6.29661018e-03 -1.94601692e-05 9.99980176e-01 1.85017338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.72, Y:5.89, Z:0.18 [[ 9.62188144e-01 -2.72318167e-01 -6.06564554e-03 3.67187733e+01] [ 2.72312925e-01 9.62207262e-01 -1.68997457e-03 5.89074275e+00] [ 6.29661896e-03 -2.56801846e-05 9.99980176e-01 1.84057420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.711858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.75, Y:5.90, Z:0.18 [[ 9.62561037e-01 -2.70997142e-01 -6.06615365e-03 3.67474311e+01] [ 2.70991885e-01 9.62580152e-01 -1.68818176e-03 5.89916135e+00] [ 6.29665153e-03 -1.89004243e-05 9.99980176e-01 1.84061715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.77, Y:5.91, Z:0.19 [[ 9.62680500e-01 -2.70572361e-01 -6.07065145e-03 3.67739666e+01] [ 2.70567195e-01 9.62699640e-01 -1.67232131e-03 5.90595301e+00] [ 6.29669789e-03 -3.26080165e-05 9.99980175e-01 1.85089150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.80, Y:5.91, Z:0.19 [[ 9.62618595e-01 -2.70792505e-01 -6.07116484e-03 3.68012605e+01] [ 2.70787354e-01 9.62637740e-01 -1.67051203e-03 5.91381404e+00] [ 6.29669454e-03 -3.59287256e-05 9.99980175e-01 1.85268617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.801858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.83, Y:5.92, Z:0.19 [[ 9.62576030e-01 -2.70943784e-01 -6.07068118e-03 3.68281267e+01] [ 2.70938626e-01 9.62595172e-01 -1.67221490e-03 5.92135648e+00] [ 6.29668462e-03 -3.51480370e-05 9.99980175e-01 1.86620060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.831858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.85, Y:5.93, Z:0.19 [[ 9.62692234e-01 -2.70530640e-01 -6.06924245e-03 3.68540910e+01] [ 2.70525442e-01 9.62711365e-01 -1.67727450e-03 5.92990249e+00] [ 6.29668283e-03 -2.71853642e-05 9.99980175e-01 1.88048255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.88, Y:5.94, Z:0.19 [[ 9.62983846e-01 -2.69490866e-01 -6.06517619e-03 3.68813286e+01] [ 2.69485557e-01 9.63002946e-01 -1.69154915e-03 5.93833852e+00] [ 6.29663958e-03 -5.54288172e-06 9.99980176e-01 1.87953769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.891858064 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:36.91, Y:5.95, Z:0.19 [[ 9.63060419e-01 -2.69217068e-01 -6.06620919e-03 3.69096987e+01] [ 2.69211777e-01 9.63079524e-01 -1.68792592e-03 5.94625799e+00] [ 6.29666033e-03 -7.52030307e-06 9.99980176e-01 1.85127453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.93, Y:5.96, Z:0.19 [[ 9.63201431e-01 -2.68712064e-01 -6.06872175e-03 3.69324180e+01] [ 2.68706818e-01 9.63220549e-01 -1.67912257e-03 5.95550416e+00] [ 6.29671799e-03 -1.33736435e-05 9.99980175e-01 1.87066818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.96, Y:5.96, Z:0.19 [[ 9.64382886e-01 -2.64440918e-01 -6.05395577e-03 3.69630674e+01] [ 2.64435263e-01 9.64401885e-01 -1.73077158e-03 5.95979634e+00] [ 6.29613318e-03 6.82471099e-05 9.99980177e-01 1.88220109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.99, Y:5.97, Z:0.19 [[ 9.64668304e-01 -2.63397606e-01 -6.06342317e-03 3.69904794e+01] [ 2.63392138e-01 9.64687358e-01 -1.69765905e-03 5.96649854e+00] [ 6.29646701e-03 4.06198839e-05 9.99980176e-01 1.88959356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.011858063999995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.02, Y:5.97, Z:0.19 [[ 9.65063960e-01 -2.61944278e-01 -6.06209422e-03 3.70186244e+01] [ 2.61938752e-01 9.65082998e-01 -1.70230143e-03 5.97297567e+00] [ 6.29633218e-03 5.49323666e-05 9.99980176e-01 1.89001780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.04, Y:5.98, Z:0.19 [[ 9.65243141e-01 -2.61283189e-01 -6.06411020e-03 3.70446125e+01] [ 2.61277694e-01 9.65262188e-01 -1.69526782e-03 5.98064523e+00] [ 6.29640126e-03 5.19289000e-05 9.99980176e-01 1.89564187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.07, Y:5.99, Z:0.19 [[ 9.65841246e-01 -2.59063736e-01 -6.05541877e-03 3.70709492e+01] [ 2.59058008e-01 9.65860223e-01 -1.72555832e-03 5.98635179e+00] [ 6.29571772e-03 9.79106758e-05 9.99980177e-01 1.88370903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101858064 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:37.10, Y:5.99, Z:0.19 [[ 9.65800513e-01 -2.59215569e-01 -6.05459626e-03 3.70966306e+01] [ 2.59209826e-01 9.65819486e-01 -1.72842570e-03 5.99347170e+00] [ 6.29568190e-03 9.99035823e-05 9.99980177e-01 1.86918487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.13, Y:6.00, Z:0.19 [[ 9.65802271e-01 -2.59209110e-01 -6.05075244e-03 3.71261626e+01] [ 2.59203283e-01 9.65821218e-01 -1.74181363e-03 5.99970723e+00] [ 6.29543905e-03 1.13872665e-04 9.99980177e-01 1.89967046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.15, Y:6.00, Z:0.19 [[ 9.65774653e-01 -2.59311846e-01 -6.05689326e-03 3.71521658e+01] [ 2.59306154e-01 9.65793642e-01 -1.72048038e-03 6.00260576e+00] [ 6.29584994e-03 9.10066404e-05 9.99980177e-01 1.89671782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.191858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.18, Y:6.01, Z:0.19 [[ 9.65403785e-01 -2.60689333e-01 -6.05004762e-03 3.71806883e+01] [ 2.60683519e-01 9.65422737e-01 -1.74422531e-03 6.00925158e+00] [ 6.29555446e-03 1.06734008e-04 9.99980177e-01 1.91882245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.20, Y:6.02, Z:0.19 [[ 9.64524674e-01 -2.63923394e-01 -6.04944154e-03 3.72032189e+01] [ 2.63917631e-01 9.64543640e-01 -1.74632562e-03 6.01691388e+00] [ 6.29584655e-03 8.78198662e-05 9.99980177e-01 1.88154595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.24, Y:6.02, Z:0.19 [[ 9.65384258e-01 -2.60762174e-01 -6.02683667e-03 3.72363030e+01] [ 2.60755860e-01 9.65403052e-01 -1.82452068e-03 6.02071222e+00] [ 6.29409250e-03 1.89830565e-04 9.99980174e-01 1.92339038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.26, Y:6.02, Z:0.19 [[ 9.65071692e-01 -2.61916082e-01 -6.04947237e-03 3.72632275e+01] [ 2.61910281e-01 9.65090647e-01 -1.74609790e-03 6.02315478e+00] [ 6.29562032e-03 1.00690649e-04 9.99980177e-01 1.92998787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31185806399999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.29, Y:6.03, Z:0.19 [[ 9.64740810e-01 -2.63132240e-01 -6.04925772e-03 3.72910088e+01] [ 2.63126458e-01 9.64759771e-01 -1.74684122e-03 6.02842527e+00] [ 6.29573073e-03 9.35292529e-05 9.99980177e-01 1.93023725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.32, Y:6.03, Z:0.19 [[ 9.64323285e-01 -2.64658299e-01 -6.04876913e-03 3.73195040e+01] [ 2.64652537e-01 9.64342251e-01 -1.74853142e-03 6.03231422e+00] [ 6.29584699e-03 8.53274659e-05 9.99980177e-01 1.92760270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.371858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.35, Y:6.04, Z:0.19 [[ 9.63974675e-01 -2.65925262e-01 -6.04827708e-03 3.73466986e+01] [ 2.65919514e-01 9.63993646e-01 -1.75023180e-03 6.03829078e+00] [ 6.29593152e-03 7.88242327e-05 9.99980177e-01 1.92437595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.401858063999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:37.37, Y:6.05, Z:0.19 [[ 9.63058675e-01 -2.69223721e-01 -6.04777987e-03 3.73730564e+01] [ 2.69218027e-01 9.63077663e-01 -1.75194817e-03 6.04561978e+00] [ 6.29614771e-03 5.90575223e-05 9.99980177e-01 1.89262857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.40, Y:6.05, Z:0.19 [[ 9.63230901e-01 -2.68607103e-01 -6.03781617e-03 3.74040842e+01] [ 2.68601182e-01 9.63249819e-01 -1.78629095e-03 6.04695766e+00] [ 6.29573577e-03 9.88460826e-05 9.99980177e-01 1.91103722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.43, Y:6.05, Z:0.19 [[ 9.62828556e-01 -2.70045557e-01 -6.04717817e-03 3.74331993e+01] [ 2.70039866e-01 9.62847545e-01 -1.75401434e-03 6.05247877e+00] [ 6.29617443e-03 5.58359095e-05 9.99980177e-01 1.91699393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.491858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.46, Y:6.06, Z:0.19 [[ 9.62543392e-01 -2.71060103e-01 -6.05299139e-03 3.74588720e+01] [ 2.71054558e-01 9.62562424e-01 -1.73398386e-03 6.05864883e+00] [ 6.29639590e-03 2.83438065e-05 9.99980177e-01 1.91528377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52185806399999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:37.49, Y:6.06, Z:0.19 [[ 9.61317609e-01 -2.75375917e-01 -6.04648879e-03 3.74860425e+01] [ 2.75370316e-01 9.61336624e-01 -1.75636975e-03 6.06401221e+00] [ 6.29637305e-03 2.34056343e-05 9.99980177e-01 1.90266293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.52, Y:6.07, Z:0.19 [[ 9.61493339e-01 -2.74761859e-01 -6.03984983e-03 3.75162390e+01] [ 2.74756103e-01 9.61512308e-01 -1.77918073e-03 6.06810734e+00] [ 6.29624096e-03 5.11848196e-05 9.99980177e-01 1.93663330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.54, Y:6.07, Z:0.19 [[ 9.61048524e-01 -2.76313361e-01 -6.05490216e-03 3.75413447e+01] [ 2.76307962e-01 9.61067597e-01 -1.72742156e-03 6.07446038e+00] [ 6.29647993e-03 -1.28817390e-05 9.99980177e-01 1.93739434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.611858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:37.57, Y:6.08, Z:0.19 [[ 9.60690042e-01 -2.77557377e-01 -6.04534934e-03 3.75677743e+01] [ 2.77551796e-01 9.60709062e-01 -1.76022988e-03 6.07987660e+00] [ 6.29638668e-03 1.31377536e-05 9.99980177e-01 1.94024835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.60, Y:6.08, Z:0.19 [[ 9.60281482e-01 -2.78967619e-01 -6.04513477e-03 3.75989037e+01] [ 2.78962061e-01 9.60300509e-01 -1.76096646e-03 6.08304425e+00] [ 6.29639862e-03 4.66022774e-06 9.99980177e-01 1.93817725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:6.09, Z:0.20 [[ 9.60162714e-01 -2.79375926e-01 -6.05434191e-03 3.76234331e+01] [ 2.79370575e-01 9.60181801e-01 -1.72936497e-03 6.08962176e+00] [ 6.29641186e-03 -3.09332238e-05 9.99980177e-01 1.95109394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.65, Y:6.10, Z:0.20 [[ 9.60201963e-01 -2.79241211e-01 -6.04451065e-03 3.76505594e+01] [ 2.79235645e-01 9.60220988e-01 -1.76307047e-03 6.09598336e+00] [ 6.29638793e-03 5.06089040e-06 9.99980178e-01 1.96219254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.731858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.68, Y:6.10, Z:0.20 [[ 9.60544312e-01 -2.78061313e-01 -6.04402455e-03 3.76780036e+01] [ 2.78055713e-01 9.60563327e-01 -1.76473531e-03 6.10202477e+00] [ 6.29637295e-03 1.45309094e-05 9.99980178e-01 1.96158075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.71, Y:6.11, Z:0.20 [[ 9.60704105e-01 -2.77508735e-01 -6.04352526e-03 3.77050740e+01] [ 2.77503113e-01 9.60723114e-01 -1.76644353e-03 6.10857544e+00] [ 6.29635792e-03 1.99324787e-05 9.99980178e-01 1.95902328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.791858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.73, Y:6.11, Z:0.20 [[ 9.60803015e-01 -2.77166101e-01 -6.04302951e-03 3.77322092e+01] [ 2.77160462e-01 9.60822019e-01 -1.76813789e-03 6.11491692e+00] [ 6.29634370e-03 2.39433686e-05 9.99980178e-01 1.95813422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:37.76, Y:6.12, Z:0.19 [[ 9.60716305e-01 -2.77466519e-01 -6.04253592e-03 3.77594519e+01] [ 2.77460876e-01 9.60735307e-01 -1.76982309e-03 6.11998481e+00] [ 6.29634426e-03 2.37305920e-05 9.99980178e-01 1.91715924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.851858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:37.79, Y:6.13, Z:0.19 [[ 9.61162190e-01 -2.75918030e-01 -6.04032212e-03 3.77869377e+01] [ 2.75912308e-01 9.61181169e-01 -1.77737584e-03 6.12646907e+00] [ 6.29625391e-03 4.17472412e-05 9.99980178e-01 1.94463082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.81, Y:6.13, Z:0.19 [[ 9.61364529e-01 -2.75212170e-01 -6.04184282e-03 3.78128729e+01] [ 2.75206467e-01 9.61383513e-01 -1.77219139e-03 6.13319975e+00] [ 6.29625672e-03 4.09677192e-05 9.99980178e-01 1.93537530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.84, Y:6.14, Z:0.19 [[ 9.61445919e-01 -2.74927706e-01 -6.04162379e-03 3.78396343e+01] [ 2.74921992e-01 9.61464900e-01 -1.77293777e-03 6.14026552e+00] [ 6.29623893e-03 4.36085332e-05 9.99980178e-01 1.93109770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.87, Y:6.14, Z:0.19 [[ 9.61839661e-01 -2.73547017e-01 -6.04112622e-03 3.78678491e+01] [ 2.73541266e-01 9.61858631e-01 -1.77463160e-03 6.14490574e+00] [ 6.29615457e-03 5.44137383e-05 9.99980178e-01 1.93030165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.971858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.89, Y:6.15, Z:0.19 [[ 9.61119482e-01 -2.76066752e-01 -6.04062468e-03 3.78923139e+01] [ 2.76061040e-01 9.61138464e-01 -1.77633712e-03 6.15318578e+00] [ 6.29626435e-03 3.96910752e-05 9.99980178e-01 1.90721020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.92, Y:6.16, Z:0.19 [[ 9.62065405e-01 -2.72752339e-01 -6.02642453e-03 3.79233975e+01] [ 2.72746259e-01 9.62084273e-01 -1.82456659e-03 6.15781732e+00] [ 6.29558307e-03 1.11667649e-04 9.99980176e-01 1.94111850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.95, Y:6.17, Z:0.19 [[ 9.61181900e-01 -2.75849364e-01 -6.04012961e-03 3.79468396e+01] [ 2.75843637e-01 9.61200877e-01 -1.77800866e-03 6.16688620e+00] [ 6.29624044e-03 4.28584266e-05 9.99980178e-01 1.91508254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.98, Y:6.17, Z:0.19 [[ 9.62613809e-01 -2.70810640e-01 -6.02095538e-03 3.79792861e+01] [ 2.70804406e-01 9.62632628e-01 -1.84302485e-03 6.17094873e+00] [ 6.29507884e-03 1.43619923e-04 9.99980175e-01 1.94965867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:38.01, Y:6.18, Z:0.19 [[ 9.62907828e-01 -2.69762928e-01 -6.03963692e-03 3.80063757e+01] [ 2.69757071e-01 9.62926766e-01 -1.77962403e-03 6.17829577e+00] [ 6.29580463e-03 8.43791464e-05 9.99980178e-01 1.93926240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.03, Y:6.19, Z:0.19 [[ 9.63020111e-01 -2.69361822e-01 -6.03948303e-03 3.80333925e+01] [ 2.69355954e-01 9.63039044e-01 -1.78014612e-03 6.18569481e+00] [ 6.29576137e-03 8.75458021e-05 9.99980178e-01 1.94443965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:6.19, Z:0.19 [[ 9.63283238e-01 -2.68419326e-01 -6.03898796e-03 3.80598596e+01] [ 2.68413429e-01 9.63302163e-01 -1.78182404e-03 6.19095970e+00] [ 6.29564617e-03 9.54557635e-05 9.99980178e-01 1.94021125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.09, Y:6.20, Z:0.19 [[ 9.63241459e-01 -2.68569219e-01 -6.03865185e-03 3.80872423e+01] [ 2.68563318e-01 9.63260383e-01 -1.78296240e-03 6.19794569e+00] [ 6.29564291e-03 9.56629241e-05 9.99980178e-01 1.94131104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.11, Y:6.21, Z:0.19 [[ 9.61950699e-01 -2.73156352e-01 -6.03816027e-03 3.81084960e+01] [ 2.73150530e-01 9.61969648e-01 -1.78462563e-03 6.20765670e+00] [ 6.29600873e-03 6.73951926e-05 9.99980178e-01 1.91611880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.14, Y:6.21, Z:0.19 [[ 9.62665585e-01 -2.70626725e-01 -6.01228718e-03 3.81419767e+01] [ 2.70620307e-01 9.62684343e-01 -1.87195659e-03 6.21049532e+00] [ 6.29453622e-03 1.75021178e-04 9.99980174e-01 1.93169672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27185806399999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:38.16, Y:6.22, Z:0.19 [[ 9.60678690e-01 -2.77596834e-01 -6.03756170e-03 3.81595932e+01] [ 2.77591088e-01 9.60697661e-01 -1.78654227e-03 6.22230671e+00] [ 6.29620988e-03 4.03197706e-05 9.99980178e-01 1.88038869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.19, Y:6.23, Z:0.19 [[ 9.61288719e-01 -2.75477850e-01 -5.99611341e-03 3.81910250e+01] [ 2.75471187e-01 9.61307398e-01 -1.92628037e-03 6.22680621e+00] [ 6.29475575e-03 1.99955110e-04 9.99980168e-01 1.91438073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.22, Y:6.23, Z:0.19 [[ 9.62249919e-01 -2.72100973e-01 -6.01288545e-03 3.82244356e+01] [ 2.72094598e-01 9.62268691e-01 -1.86965688e-03 6.23095192e+00] [ 6.29474687e-03 1.63003526e-04 9.99980175e-01 1.91245556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.25, Y:6.24, Z:0.19 [[ 9.61622582e-01 -2.74309235e-01 -6.03764387e-03 3.82517234e+01] [ 2.74303428e-01 9.61641534e-01 -1.78595819e-03 6.23667664e+00] [ 6.29595394e-03 6.12713144e-05 9.99980178e-01 1.90986849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.28, Y:6.24, Z:0.19 [[ 9.61206461e-01 -2.75763835e-01 -6.03714197e-03 3.82777418e+01] [ 2.75758046e-01 9.61225418e-01 -1.78765317e-03 6.24349011e+00] [ 6.29602441e-03 5.35133019e-05 9.99980178e-01 1.90906950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.30, Y:6.25, Z:0.19 [[ 9.60644356e-01 -2.77715639e-01 -6.03692368e-03 3.83045141e+01] [ 2.77709884e-01 9.60663324e-01 -1.78839003e-03 6.25070153e+00] [ 6.29611505e-03 4.14934132e-05 9.99980178e-01 1.91100653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.33, Y:6.26, Z:0.19 [[ 9.59958244e-01 -2.80078081e-01 -6.03642312e-03 3.83315678e+01] [ 2.80072362e-01 9.59977222e-01 -1.79007802e-03 6.25813484e+00] [ 6.29619031e-03 2.77648693e-05 9.99980178e-01 1.91069955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481858063999994 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:38.36, Y:6.27, Z:0.19 [[ 9.58734977e-01 -2.84237245e-01 -6.03592565e-03 3.83593516e+01] [ 2.84231598e-01 9.58753977e-01 -1.79175386e-03 6.26503024e+00] [ 6.29625090e-03 2.21630246e-06 9.99980178e-01 1.90706826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.511858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:6.27, Z:0.19 [[ 9.58090109e-01 -2.86403416e-01 -6.03543075e-03 3.83858556e+01] [ 2.86397801e-01 9.58109119e-01 -1.79341933e-03 6.27242568e+00] [ 6.29624266e-03 -1.02767733e-05 9.99980178e-01 1.91190238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.41, Y:6.28, Z:0.19 [[ 9.57503781e-01 -2.88357565e-01 -6.03521625e-03 3.84125678e+01] [ 2.88351985e-01 9.57522801e-01 -1.79414090e-03 6.27996062e+00] [ 6.29621126e-03 -2.23698881e-05 9.99980178e-01 1.92479875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.571858064 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:38.44, Y:6.29, Z:0.19 [[ 9.56490354e-01 -2.91701535e-01 -6.03471175e-03 3.84394048e+01] [ 2.91696010e-01 9.56509390e-01 -1.79583622e-03 6.28819473e+00] [ 6.29610663e-03 -4.26013194e-05 9.99980178e-01 1.92463224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.46, Y:6.30, Z:0.19 [[ 9.55229082e-01 -2.95805655e-01 -6.03455563e-03 3.84614684e+01] [ 2.95800209e-01 9.55248140e-01 -1.79636066e-03 6.29913791e+00] [ 6.29587169e-03 -6.90868735e-05 9.99980178e-01 1.92710419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.49, Y:6.31, Z:0.19 [[ 9.54991959e-01 -2.96570719e-01 -6.01387762e-03 3.84902905e+01] [ 2.96564850e-01 9.55010895e-01 -1.86572623e-03 6.30676623e+00] [ 6.29663841e-03 -1.75116561e-06 9.99980176e-01 1.90766679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66185806399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:38.52, Y:6.31, Z:0.19 [[ 9.54579448e-01 -2.97895564e-01 -6.02578508e-03 3.85188016e+01] [ 2.97889973e-01 9.54598465e-01 -1.82579213e-03 6.31436634e+00] [ 6.29610056e-03 -5.21573131e-05 9.99980178e-01 1.91740338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.691858063999994 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:38.55, Y:6.32, Z:0.19 [[ 9.54496686e-01 -2.98160480e-01 -6.03359482e-03 3.85461940e+01] [ 2.98155060e-01 9.54515752e-01 -1.79960821e-03 6.32259841e+00] [ 6.29573334e-03 -8.12267570e-05 9.99980178e-01 1.91932251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721858063999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:38.57, Y:6.33, Z:0.19 [[ 9.54212401e-01 -2.99069049e-01 -6.03309458e-03 3.85726982e+01] [ 2.99063636e-01 9.54231469e-01 -1.80128367e-03 6.33100413e+00] [ 6.29567690e-03 -8.54719883e-05 9.99980178e-01 1.91592477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.60, Y:6.34, Z:0.19 [[ 9.54175819e-01 -2.99185752e-01 -6.03258702e-03 3.85983565e+01] [ 2.99180331e-01 9.54194885e-01 -1.80298192e-03 6.33943644e+00] [ 6.29569018e-03 -8.44696296e-05 9.99980178e-01 1.90843800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.62, Y:6.35, Z:0.19 [[ 9.54233923e-01 -2.99000389e-01 -6.03224199e-03 3.86248845e+01] [ 2.98994957e-01 9.54252986e-01 -1.80413555e-03 6.34818504e+00] [ 6.29572216e-03 -8.20425918e-05 9.99980178e-01 1.90976987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.65, Y:6.36, Z:0.19 [[ 9.55050434e-01 -2.96381994e-01 -6.03174356e-03 3.86534692e+01] [ 2.96376500e-01 9.55069479e-01 -1.80580041e-03 6.35758808e+00] [ 6.29594090e-03 -6.30365806e-05 9.99980178e-01 1.90167811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.68, Y:6.37, Z:0.19 [[ 9.55029838e-01 -2.96448300e-01 -6.03432198e-03 3.86794439e+01] [ 2.96442861e-01 9.55048899e-01 -1.79719371e-03 6.36843231e+00] [ 6.29584758e-03 -7.24580503e-05 9.99980178e-01 1.91044341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:6.38, Z:0.19 [[ 9.55290655e-01 -2.95606815e-01 -6.03119896e-03 3.87065691e+01] [ 2.95601294e-01 9.55309692e-01 -1.80761382e-03 6.37768215e+00] [ 6.29600579e-03 -5.60336233e-05 9.99980178e-01 1.89926176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901858063999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:38.73, Y:6.39, Z:0.19 [[ 9.54994082e-01 -2.96563539e-01 -6.03078817e-03 3.87321633e+01] [ 2.96558028e-01 9.55013122e-01 -1.80898311e-03 6.38906064e+00] [ 6.29596028e-03 -6.09104760e-05 9.99980178e-01 1.91197017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:6.40, Z:0.19 [[ 9.55028334e-01 -2.96453421e-01 -6.02090357e-03 3.87603597e+01] [ 2.96447700e-01 9.55047312e-01 -1.84189386e-03 6.39725207e+00] [ 6.29628351e-03 -2.58221932e-05 9.99980178e-01 1.91284618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:6.40, Z:0.19 [[ 9.55886827e-01 -2.93673402e-01 -6.02557546e-03 3.87911619e+01] [ 2.93667724e-01 9.55905818e-01 -1.82635005e-03 6.40363306e+00] [ 6.29623307e-03 -2.37330739e-05 9.99980178e-01 1.91636378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:6.41, Z:0.19 [[ 9.55780942e-01 -2.94017629e-01 -6.03532876e-03 3.88167887e+01] [ 2.94012163e-01 9.55799995e-01 -1.79390831e-03 6.41467246e+00] [ 6.29600787e-03 -5.98766856e-05 9.99980178e-01 1.94712700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:6.42, Z:0.20 [[ 9.55742159e-01 -2.94143817e-01 -6.02836666e-03 3.88427764e+01] [ 2.94138207e-01 9.55761170e-01 -1.81703966e-03 6.42404443e+00] [ 6.29614975e-03 -3.65515478e-05 9.99980178e-01 1.95383685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.051858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:6.43, Z:0.20 [[ 9.56174432e-01 -2.92735553e-01 -6.02931011e-03 3.88699579e+01] [ 2.92729934e-01 9.56193440e-01 -1.81390625e-03 6.43307711e+00] [ 6.29618162e-03 -3.05487766e-05 9.99980178e-01 1.95942927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.90, Y:6.44, Z:0.19 [[ 9.56778053e-01 -2.90756600e-01 -6.02970702e-03 3.88975543e+01] [ 2.90750951e-01 9.56797052e-01 -1.81258859e-03 6.44375382e+00] [ 6.29622800e-03 -1.88980727e-05 9.99980178e-01 1.93975882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.93, Y:6.45, Z:0.19 [[ 9.56959285e-01 -2.90159507e-01 -6.03219260e-03 3.89253661e+01] [ 2.90153898e-01 9.56978296e-01 -1.80434387e-03 6.45330018e+00] [ 6.29622493e-03 -2.35805793e-05 9.99980178e-01 1.93440494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.95, Y:6.46, Z:0.19 [[ 9.57196573e-01 -2.89375790e-01 -6.03101844e-03 3.89529826e+01] [ 2.89370140e-01 9.57215572e-01 -1.80823536e-03 6.46146296e+00] [ 6.29624431e-03 -1.43599650e-05 9.99980178e-01 1.92777476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.98, Y:6.47, Z:0.19 [[ 9.57740025e-01 -2.87571891e-01 -6.03759053e-03 3.89810389e+01] [ 2.87566343e-01 9.57759055e-01 -1.78646574e-03 6.46937069e+00] [ 6.29629433e-03 -2.52380923e-05 9.99980178e-01 1.93893883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.01, Y:6.48, Z:0.19 [[ 9.57455312e-01 -2.88518425e-01 -6.03692087e-03 3.90066550e+01] [ 2.88512882e-01 9.57474343e-01 -1.78868127e-03 6.48006359e+00] [ 6.29626435e-03 -2.91470542e-05 9.99980178e-01 1.94505519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.03, Y:6.49, Z:0.19 [[ 9.57735699e-01 -2.87586442e-01 -6.03072838e-03 3.90348205e+01] [ 2.87580752e-01 9.57754686e-01 -1.80915017e-03 6.48921078e+00] [ 6.29624542e-03 -1.63369746e-06 9.99980178e-01 1.93713617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.06, Y:6.50, Z:0.19 [[ 9.57521178e-01 -2.88299794e-01 -6.03512015e-03 3.90615500e+01] [ 2.88294209e-01 9.57540197e-01 -1.79464595e-03 6.49925649e+00] [ 6.29626619e-03 -2.14786859e-05 9.99980178e-01 1.93912406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.291858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.09, Y:6.51, Z:0.19 [[ 9.56685206e-01 -2.91061845e-01 -6.03475125e-03 3.90875753e+01] [ 2.91056308e-01 9.56704239e-01 -1.79586318e-03 6.50856388e+00] [ 6.29617935e-03 -3.83766818e-05 9.99980178e-01 1.94322123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.12, Y:6.52, Z:0.19 [[ 9.56215592e-01 -2.92601117e-01 -6.02726051e-03 3.91152951e+01] [ 2.92595454e-01 9.56234587e-01 -1.82054490e-03 6.51672128e+00] [ 6.29616843e-03 -2.27156070e-05 9.99980179e-01 1.94958902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:6.53, Z:0.19 [[ 9.55409329e-01 -2.95223098e-01 -6.02797788e-03 3.91411965e+01] [ 2.95217502e-01 9.55428344e-01 -1.81818208e-03 6.52607784e+00] [ 6.29607026e-03 -4.24564522e-05 9.99980179e-01 1.93910148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:6.53, Z:0.19 [[ 9.54432939e-01 -2.98364605e-01 -6.02715498e-03 3.91676416e+01] [ 2.98359055e-01 9.54451968e-01 -1.82089132e-03 6.53497617e+00] [ 6.29591945e-03 -6.03376079e-05 9.99980179e-01 1.93505773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.19, Y:6.54, Z:0.19 [[ 9.53966832e-01 -2.99851624e-01 -6.02381356e-03 3.91945141e+01] [ 2.99846034e-01 9.53985849e-01 -1.83187897e-03 6.54318695e+00] [ 6.29592478e-03 -5.86648243e-05 9.99980179e-01 1.94192816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.22, Y:6.55, Z:0.19 [[ 9.52968453e-01 -3.03009648e-01 -6.02329777e-03 3.92181863e+01] [ 3.03004110e-01 9.52987485e-01 -1.83357336e-03 6.55229125e+00] [ 6.29571781e-03 -7.77464143e-05 9.99980179e-01 1.94983033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.25, Y:6.56, Z:0.20 [[ 9.53416733e-01 -3.01596495e-01 -6.00728119e-03 3.92507718e+01] [ 3.01590597e-01 9.53435658e-01 -1.88610378e-03 6.55786362e+00] [ 6.29639838e-03 -1.34966195e-05 9.99980177e-01 1.97145935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.28, Y:6.57, Z:0.20 [[ 9.53341694e-01 -3.01833174e-01 -6.02905751e-03 3.92789407e+01] [ 3.01827732e-01 9.53360754e-01 -1.81461573e-03 6.56634570e+00] [ 6.29557804e-03 -8.97879261e-05 9.99980179e-01 1.97728182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.31, Y:6.57, Z:0.20 [[ 9.53539858e-01 -3.01206560e-01 -6.02892970e-03 3.93079186e+01] [ 3.01201103e-01 9.53558913e-01 -1.81503487e-03 6.57406264e+00] [ 6.29564006e-03 -8.52121863e-05 9.99980179e-01 1.98079328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.33, Y:6.58, Z:0.20 [[ 9.53412527e-01 -3.01609246e-01 -6.03458109e-03 3.93328814e+01] [ 3.01603915e-01 9.53431618e-01 -1.79651306e-03 6.58428190e+00] [ 6.29540536e-03 -1.07235224e-04 9.99980178e-01 1.98334664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:6.59, Z:0.20 [[ 9.53635175e-01 -3.00904637e-01 -6.02927111e-03 3.93596925e+01] [ 3.00899182e-01 9.53654231e-01 -1.81390496e-03 6.59325544e+00] [ 6.29565231e-03 -8.43991705e-05 9.99980179e-01 1.97307336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.39, Y:6.60, Z:0.20 [[ 9.53841703e-01 -3.00249284e-01 -6.03103856e-03 3.93851385e+01] [ 3.00243852e-01 9.53860766e-01 -1.80811993e-03 6.60209638e+00] [ 6.29565777e-03 -8.61220507e-05 9.99980178e-01 1.96050316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.41, Y:6.62, Z:0.19 [[ 9.52408848e-01 -3.04763960e-01 -6.02617888e-03 3.94054743e+01] [ 3.04758518e-01 9.52427907e-01 -1.82400961e-03 6.61522201e+00] [ 6.29539333e-03 -9.93264536e-05 9.99980179e-01 1.92094192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.44, Y:6.62, Z:0.20 [[ 9.53386558e-01 -3.01692012e-01 -6.00008679e-03 3.94372558e+01] [ 3.01685971e-01 9.53405438e-01 -1.90921548e-03 6.62129550e+00] [ 6.29651044e-03 1.00783567e-05 9.99980177e-01 1.95981587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.46, Y:6.63, Z:0.19 [[ 9.53155235e-01 -3.02421729e-01 -6.01629483e-03 3.94638936e+01] [ 3.02416037e-01 9.53174221e-01 -1.85625105e-03 6.63087801e+00] [ 6.29594778e-03 -5.01286304e-05 9.99980179e-01 1.94533258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.49, Y:6.64, Z:0.19 [[ 9.52727874e-01 -3.03765450e-01 -6.01249287e-03 3.94872692e+01] [ 3.03759705e-01 9.52746844e-01 -1.86866888e-03 6.64360137e+00] [ 6.29602065e-03 -4.60201360e-05 9.99980179e-01 1.92626458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.51, Y:6.65, Z:0.19 [[ 9.53091104e-01 -3.02624162e-01 -5.99697168e-03 3.95129804e+01] [ 3.02618076e-01 9.53109971e-01 -1.91930467e-03 6.65326498e+00] [ 6.29660147e-03 1.44801729e-05 9.99980176e-01 1.92166339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.54, Y:6.66, Z:0.19 [[ 9.53911177e-01 -3.00029161e-01 -5.99738603e-03 3.95427948e+01] [ 3.00023032e-01 9.53930030e-01 -1.91795298e-03 6.66237527e+00] [ 6.29652846e-03 3.02028464e-05 9.99980176e-01 1.92273079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.831858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.57, Y:6.67, Z:0.19 [[ 9.54038623e-01 -2.99623459e-01 -6.00731068e-03 3.95687307e+01] [ 2.99617526e-01 9.54057536e-01 -1.88556044e-03 6.67261342e+00] [ 6.29627817e-03 -9.98080205e-07 9.99980178e-01 1.91231901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.60, Y:6.68, Z:0.19 [[ 9.55243744e-01 -2.95758958e-01 -6.00240390e-03 3.95991572e+01] [ 2.95752848e-01 9.55262601e-01 -1.90157516e-03 6.68007694e+00] [ 6.29627985e-03 4.12397249e-05 9.99980177e-01 1.94012540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.63, Y:6.69, Z:0.20 [[ 9.55856665e-01 -2.93771795e-01 -6.01404911e-03 3.96261548e+01] [ 2.93765885e-01 9.55875584e-01 -1.86356787e-03 6.68734209e+00] [ 6.29614639e-03 1.45813128e-05 9.99980179e-01 1.95632145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.65, Y:6.70, Z:0.20 [[ 9.55655155e-01 -2.94426576e-01 -6.01801687e-03 3.96536170e+01] [ 2.94420760e-01 9.55674103e-01 -1.85062444e-03 6.69667618e+00] [ 6.29613589e-03 -3.27031159e-06 9.99980179e-01 1.97218794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.68, Y:6.71, Z:0.20 [[ 9.55658826e-01 -2.94414632e-01 -6.01937380e-03 3.96801616e+01] [ 2.94408843e-01 9.55677783e-01 -1.84620026e-03 6.70669669e+00] [ 6.29613018e-03 -7.81930214e-06 9.99980179e-01 1.97737224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.71, Y:6.71, Z:0.20 [[ 9.56527455e-01 -2.91580180e-01 -6.01885188e-03 3.97115926e+01] [ 2.91574324e-01 9.56546391e-01 -1.84790025e-03 6.71372908e+00] [ 6.29612213e-03 1.26246524e-05 9.99980179e-01 1.98556666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.011858063999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:39.73, Y:6.72, Z:0.20 [[ 9.55665616e-01 -2.94392153e-01 -6.04068993e-03 3.97326243e+01] [ 2.94386803e-01 9.55684704e-01 -1.77670439e-03 6.72495101e+00] [ 6.29604280e-03 -8.03640990e-05 9.99980176e-01 1.99092858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.76, Y:6.73, Z:0.20 [[ 9.55806190e-01 -2.93935894e-01 -6.01809142e-03 3.97574194e+01] [ 2.93930071e-01 9.55825136e-01 -1.85020958e-03 6.73496943e+00] [ 6.29608606e-03 -4.56275859e-07 9.99980179e-01 1.99743708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.78, Y:6.74, Z:0.20 [[ 9.55779204e-01 -2.94023636e-01 -6.01786681e-03 3.97837134e+01] [ 2.94017810e-01 9.55798149e-01 -1.85093985e-03 6.74415294e+00] [ 6.29608602e-03 -2.70207868e-07 9.99980179e-01 2.00223796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.81, Y:6.75, Z:0.20 [[ 9.55729069e-01 -2.94186569e-01 -6.01733024e-03 3.98091892e+01] [ 2.94180736e-01 9.55748012e-01 -1.85268257e-03 6.75292777e+00] [ 6.29608575e-03 4.79951625e-07 9.99980179e-01 2.00066746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.83, Y:6.76, Z:0.20 [[ 9.55713309e-01 -2.94237772e-01 -6.01696512e-03 3.98347221e+01] [ 2.94231932e-01 9.55732250e-01 -1.85386762e-03 6.76169918e+00] [ 6.29608549e-03 1.38268734e-06 9.99980179e-01 1.99647983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.86, Y:6.77, Z:0.20 [[ 9.55551789e-01 -2.94761898e-01 -6.01673884e-03 3.98611259e+01] [ 2.94756064e-01 9.55570732e-01 -1.85460172e-03 6.77076335e+00] [ 6.29608546e-03 -1.30226572e-06 9.99980179e-01 1.99207869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.191858063999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:39.89, Y:6.78, Z:0.20 [[ 9.55425365e-01 -2.95171437e-01 -6.01623195e-03 3.98871590e+01] [ 2.95165600e-01 9.55444307e-01 -1.85624458e-03 6.78004282e+00] [ 6.29608495e-03 -2.28156429e-06 9.99980179e-01 1.98690380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:39.91, Y:6.79, Z:0.20 [[ 9.55307815e-01 -2.95551662e-01 -6.01607497e-03 3.99136906e+01] [ 2.95545829e-01 9.55326758e-01 -1.85675322e-03 6.78879628e+00] [ 6.29608390e-03 -4.25500064e-06 9.99980179e-01 1.98914049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.94, Y:6.80, Z:0.20 [[ 9.55174384e-01 -2.95982617e-01 -6.01558115e-03 3.99399384e+01] [ 2.95976783e-01 9.55193326e-01 -1.85835175e-03 6.79849529e+00] [ 6.29608278e-03 -5.42236461e-06 9.99980179e-01 1.99769307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.97, Y:6.81, Z:0.20 [[ 9.55003385e-01 -2.96533898e-01 -6.01506071e-03 3.99669116e+01] [ 2.96528065e-01 9.55022328e-01 -1.86003478e-03 6.80762097e+00] [ 6.29608064e-03 -7.29480057e-06 9.99980179e-01 1.99903005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:39.99, Y:6.82, Z:0.20 [[ 9.54861300e-01 -2.96991116e-01 -6.01453928e-03 3.99930735e+01] [ 2.96985281e-01 9.54880242e-01 -1.86171931e-03 6.81617963e+00] [ 6.29607882e-03 -8.54591999e-06 9.99980179e-01 1.99097525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.02, Y:6.82, Z:0.20 [[ 9.54608352e-01 -2.97803162e-01 -6.01418473e-03 4.00201423e+01] [ 2.97797336e-01 9.54627297e-01 -1.86286395e-03 6.82444663e+00] [ 6.29607169e-03 -1.27027000e-05 9.99980179e-01 2.00714688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.371858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.05, Y:6.83, Z:0.20 [[ 9.54367972e-01 -2.98572619e-01 -6.01366886e-03 4.00464723e+01] [ 2.98566798e-01 9.54386919e-01 -1.86452781e-03 6.83303178e+00] [ 6.29606384e-03 -1.60362314e-05 9.99980179e-01 2.01071316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.07, Y:6.84, Z:0.20 [[ 9.54315517e-01 -2.98740249e-01 -6.01315265e-03 4.00718481e+01] [ 2.98734421e-01 9.54334461e-01 -1.86619111e-03 6.84172491e+00] [ 6.29606519e-03 -1.54005367e-05 9.99980179e-01 2.01022767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.10, Y:6.85, Z:0.20 [[ 9.54311521e-01 -2.98753016e-01 -6.01292886e-03 4.00980673e+01] [ 2.98747183e-01 9.54330464e-01 -1.86691190e-03 6.85114905e+00] [ 6.29606675e-03 -1.47300251e-05 9.99980179e-01 2.00372147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:40.12, Y:6.86, Z:0.20 [[ 9.54316297e-01 -2.98737773e-01 -6.01241526e-03 4.01243038e+01] [ 2.98731929e-01 9.54335236e-01 -1.86856449e-03 6.85999411e+00] [ 6.29607053e-03 -1.28988684e-05 9.99980179e-01 1.99927432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.15, Y:6.87, Z:0.20 [[ 9.54289175e-01 -2.98824409e-01 -6.01190493e-03 4.01505367e+01] [ 2.98818557e-01 9.54308112e-01 -1.87020499e-03 6.86880225e+00] [ 6.29607254e-03 -1.17523786e-05 9.99980179e-01 2.00025553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:6.88, Z:0.20 [[ 9.54247993e-01 -2.98955902e-01 -6.01138496e-03 4.01768410e+01] [ 2.98950042e-01 9.54266927e-01 -1.87187483e-03 6.87743796e+00] [ 6.29607388e-03 -1.08709897e-05 9.99980179e-01 1.99859588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.20, Y:6.89, Z:0.20 [[ 9.54131827e-01 -2.99326455e-01 -6.01086522e-03 4.02038683e+01] [ 2.99320591e-01 9.54150760e-01 -1.87354231e-03 6.88564641e+00] [ 6.29607239e-03 -1.15693851e-05 9.99980179e-01 2.00737210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.23, Y:6.89, Z:0.20 [[ 9.54047164e-01 -2.99596203e-01 -6.01033413e-03 4.02311404e+01] [ 2.99590334e-01 9.54066096e-01 -1.87524448e-03 6.89422607e+00] [ 6.29607215e-03 -1.15663352e-05 9.99980179e-01 2.00916538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.611858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.26, Y:6.90, Z:0.20 [[ 9.53833696e-01 -3.00275146e-01 -6.00980348e-03 4.02575552e+01] [ 3.00269280e-01 9.53852628e-01 -1.87694359e-03 6.90223926e+00] [ 6.29606635e-03 -1.42673229e-05 9.99980179e-01 2.01443456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.28, Y:6.91, Z:0.20 [[ 9.53628362e-01 -3.00926629e-01 -6.00927604e-03 4.02846130e+01] [ 3.00920766e-01 9.53647295e-01 -1.87863074e-03 6.91046583e+00] [ 6.29605986e-03 -1.68003910e-05 9.99980179e-01 2.02359523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.31, Y:6.92, Z:0.20 [[ 9.53460797e-01 -3.01457133e-01 -6.00874992e-03 4.03115737e+01] [ 3.01451269e-01 9.53479731e-01 -1.88031200e-03 6.91902955e+00] [ 6.29605472e-03 -1.85415112e-05 9.99980179e-01 2.03407661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.34, Y:6.93, Z:0.20 [[ 9.53368901e-01 -3.01747643e-01 -6.00822353e-03 4.03370814e+01] [ 3.01741774e-01 9.53387833e-01 -1.88199252e-03 6.92763193e+00] [ 6.29605401e-03 -1.86988896e-05 9.99980179e-01 2.03287239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.731858063999994 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:40.36, Y:6.94, Z:0.20 [[ 9.53175231e-01 -3.02358863e-01 -6.00799534e-03 4.03640539e+01] [ 3.02353002e-01 9.53194166e-01 -1.88272070e-03 6.93608030e+00] [ 6.29604339e-03 -2.19726927e-05 9.99980179e-01 2.03522035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.761858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.39, Y:6.94, Z:0.20 [[ 9.53030032e-01 -3.02816228e-01 -6.00745802e-03 4.03912365e+01] [ 3.02810365e-01 9.53048966e-01 -1.88443363e-03 6.94371430e+00] [ 6.29603874e-03 -2.31987083e-05 9.99980179e-01 2.03608743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.791858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.42, Y:6.95, Z:0.20 [[ 9.52854555e-01 -3.03367951e-01 -6.00692385e-03 4.04183599e+01] [ 3.03362089e-01 9.52873489e-01 -1.88613484e-03 6.95208326e+00] [ 6.29603135e-03 -2.50607941e-05 9.99980179e-01 2.03752394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:40.44, Y:6.96, Z:0.20 [[ 9.52736752e-01 -3.03737723e-01 -6.00639051e-03 4.04441101e+01] [ 3.03731858e-01 9.52755685e-01 -1.88783172e-03 6.96010177e+00] [ 6.29602842e-03 -2.57254842e-05 9.99980179e-01 2.03559555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.47, Y:6.97, Z:0.20 [[ 9.52557620e-01 -3.04299043e-01 -6.00615948e-03 4.04697259e+01] [ 3.04293184e-01 9.52576554e-01 -1.88856648e-03 6.96751701e+00] [ 6.29601567e-03 -2.86649942e-05 9.99980179e-01 2.03313318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.50, Y:6.98, Z:0.20 [[ 9.52517881e-01 -3.04423418e-01 -6.00580154e-03 4.04969912e+01] [ 3.04417554e-01 9.52536814e-01 -1.88970407e-03 6.97575591e+00] [ 6.29601723e-03 -2.82944987e-05 9.99980179e-01 2.03188422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91185806399999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:40.52, Y:6.98, Z:0.20 [[ 9.52463984e-01 -3.04592017e-01 -6.00528611e-03 4.05234278e+01] [ 3.04586146e-01 9.52482915e-01 -1.89134063e-03 6.98365539e+00] [ 6.29601967e-03 -2.76931181e-05 9.99980179e-01 2.03725391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.941858063999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:40.54, Y:7.00, Z:0.20 [[ 9.49188045e-01 -3.14652186e-01 -6.00476330e-03 4.05371998e+01] [ 3.14646506e-01 9.49207034e-01 -1.89299903e-03 6.99746866e+00] [ 6.29539985e-03 -9.25657466e-05 9.99980179e-01 1.96914287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.971858063999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:40.58, Y:7.00, Z:0.20 [[ 9.52379510e-01 -3.04857293e-01 -5.94141328e-03 4.05790138e+01] [ 3.04850161e-01 9.52398025e-01 -2.09315008e-03 6.99937242e+00] [ 6.29670234e-03 1.82232447e-04 9.99980159e-01 2.03971300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:40.61, Y:7.01, Z:0.20 [[ 9.52269831e-01 -3.05198482e-01 -6.00457316e-03 4.06058506e+01] [ 3.05192614e-01 9.52288762e-01 -1.89278546e-03 7.00722239e+00] [ 6.29576279e-03 -3.01088889e-05 9.99980181e-01 2.04046010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.031858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:40.64, Y:7.01, Z:0.21 [[ 9.52241388e-01 -3.05287224e-01 -6.00406807e-03 4.06373124e+01] [ 3.05281348e-01 9.52260316e-01 -1.89438628e-03 7.01378542e+00] [ 6.29576769e-03 -2.90169777e-05 9.99980181e-01 2.05887620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06185806399999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:40.66, Y:7.02, Z:0.20 [[ 9.52147059e-01 -3.05581024e-01 -6.01795199e-03 4.06608951e+01] [ 3.05575432e-01 9.52166074e-01 -1.85036385e-03 7.02189243e+00] [ 6.29552580e-03 -7.71197811e-05 9.99980180e-01 2.04807854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.69, Y:7.03, Z:0.20 [[ 9.51999324e-01 -3.06041252e-01 -6.00335847e-03 4.06876858e+01] [ 3.06035377e-01 9.52018252e-01 -1.89655815e-03 7.02945819e+00] [ 6.29573186e-03 -3.17179893e-05 9.99980181e-01 2.04991395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.121858063999994 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:40.71, Y:7.04, Z:0.20 [[ 9.51740155e-01 -3.06846286e-01 -6.00282363e-03 4.07141182e+01] [ 3.06840416e-01 9.51759085e-01 -1.89824947e-03 7.03706329e+00] [ 6.29571272e-03 -3.52686580e-05 9.99980181e-01 2.03908178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.74, Y:7.05, Z:0.20 [[ 9.51556128e-01 -3.07416498e-01 -6.00270994e-03 4.07421947e+01] [ 3.07410638e-01 9.51575060e-01 -1.89860890e-03 7.04542367e+00] [ 6.29569277e-03 -3.86639599e-05 9.99980181e-01 2.03966490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:40.77, Y:7.05, Z:0.20 [[ 9.51291446e-01 -3.08234585e-01 -6.00219918e-03 4.07695636e+01] [ 3.08228730e-01 9.51310380e-01 -1.90022221e-03 7.05323102e+00] [ 6.29566859e-03 -4.23851032e-05 9.99980181e-01 2.04617425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.80, Y:7.06, Z:0.21 [[ 9.50894216e-01 -3.09457865e-01 -6.00167449e-03 4.07958203e+01] [ 3.09452025e-01 9.50913154e-01 -1.90187796e-03 7.05858890e+00] [ 6.29562231e-03 -4.87455647e-05 9.99980181e-01 2.06212411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.82, Y:7.07, Z:0.21 [[ 9.50687439e-01 -3.10092528e-01 -6.00144701e-03 4.08221158e+01] [ 3.10086695e-01 9.50706380e-01 -1.90259550e-03 7.06617824e+00] [ 6.29559461e-03 -5.21952302e-05 9.99980181e-01 2.07208007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.85, Y:7.07, Z:0.21 [[ 9.50553504e-01 -3.10502851e-01 -6.00125448e-03 4.08488812e+01] [ 3.10497023e-01 9.50572447e-01 -1.90320259e-03 7.07454011e+00] [ 6.29557699e-03 -5.42757599e-05 9.99980181e-01 2.08481732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.88, Y:7.08, Z:0.21 [[ 9.50538338e-01 -3.10549288e-01 -6.00073253e-03 4.08762338e+01] [ 3.10543450e-01 9.50557277e-01 -1.90484686e-03 7.08386010e+00] [ 6.29558881e-03 -5.28582159e-05 9.99980181e-01 2.09016561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.90, Y:7.09, Z:0.21 [[ 9.50706201e-01 -3.10035025e-01 -6.00027869e-03 4.09022520e+01] [ 3.10029168e-01 9.50725134e-01 -1.90627540e-03 7.09313655e+00] [ 6.29562790e-03 -4.79535672e-05 9.99980181e-01 2.10078282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.93, Y:7.10, Z:0.21 [[ 9.52137976e-01 -3.05609683e-01 -5.99973633e-03 4.09300095e+01] [ 3.05603727e-01 9.52156879e-01 -1.90798087e-03 7.10116982e+00] [ 6.29578764e-03 -1.68807410e-05 9.99980181e-01 2.08169325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.391858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.96, Y:7.11, Z:0.21 [[ 9.52752949e-01 -3.03686915e-01 -6.00626219e-03 4.09612462e+01] [ 3.03681050e-01 9.52771881e-01 -1.88747673e-03 7.10988154e+00] [ 6.29579971e-03 -2.56889913e-05 9.99980181e-01 2.08782154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:40.99, Y:7.12, Z:0.21 [[ 9.53759894e-01 -3.00509232e-01 -6.02220079e-03 4.09892144e+01] [ 3.00503620e-01 9.53778904e-01 -1.83736850e-03 7.11858807e+00] [ 6.29599427e-03 -5.72847514e-05 9.99980178e-01 2.07888623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45185806399999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:41.01, Y:7.13, Z:0.21 [[ 9.53181066e-01 -3.02340149e-01 -6.02413708e-03 4.10092584e+01] [ 3.02334612e-01 9.53200099e-01 -1.83128470e-03 7.12952470e+00] [ 6.29587895e-03 -7.57592521e-05 9.99980178e-01 2.08530615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481858063999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:41.04, Y:7.14, Z:0.21 [[ 9.53485643e-01 -3.01378754e-01 -5.99795045e-03 4.10363526e+01] [ 3.01372681e-01 9.53504508e-01 -1.91337335e-03 7.13860473e+00] [ 6.29572287e-03 1.67556123e-05 9.99980182e-01 2.08344741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.511858063999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.07, Y:7.15, Z:0.21 [[ 9.54422401e-01 -2.98398915e-01 -5.99741920e-03 4.10687526e+01] [ 2.98392772e-01 9.54441243e-01 -1.91503711e-03 7.14563955e+00] [ 6.29562923e-03 3.81677715e-05 9.99980182e-01 2.07383647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.09, Y:7.16, Z:0.21 [[ 9.54043636e-01 -2.99607251e-01 -6.01958195e-03 4.10905719e+01] [ 2.99601570e-01 9.54062626e-01 -1.84557072e-03 7.15630118e+00] [ 6.29600453e-03 -4.27212035e-05 9.99980179e-01 2.07154565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.12, Y:7.16, Z:0.21 [[ 9.54039986e-01 -2.99619332e-01 -5.99675649e-03 4.11164461e+01] [ 2.99613201e-01 9.54058832e-01 -1.91697428e-03 7.16466132e+00] [ 6.29562105e-03 3.21627065e-05 9.99980182e-01 2.06927715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.14, Y:7.17, Z:0.20 [[ 9.54648546e-01 -2.97674649e-01 -5.99639832e-03 4.11413523e+01] [ 2.97668473e-01 9.54667377e-01 -1.91809402e-03 7.17195210e+00] [ 6.29553382e-03 4.61669356e-05 9.99980182e-01 2.03677950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.17, Y:7.18, Z:0.21 [[ 9.54230462e-01 -2.99012431e-01 -5.98258813e-03 4.11720841e+01] [ 2.99006010e-01 9.54249212e-01 -1.96125596e-03 7.18138566e+00] [ 6.29531993e-03 8.26603779e-05 9.99980181e-01 2.07783754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.20, Y:7.19, Z:0.21 [[ 9.54707902e-01 -2.97484223e-01 -5.99652375e-03 4.11965017e+01] [ 2.97478046e-01 9.54726733e-01 -1.91767974e-03 7.18897338e+00] [ 6.29552100e-03 4.69898350e-05 9.99980182e-01 2.05929269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.23, Y:7.20, Z:0.21 [[ 9.54318909e-01 -2.98730017e-01 -5.98308131e-03 4.12256896e+01] [ 2.98723600e-01 9.54337661e-01 -1.95966858e-03 7.19784786e+00] [ 6.29529164e-03 8.28611888e-05 9.99980181e-01 2.09241608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.25, Y:7.21, Z:0.21 [[ 9.54330314e-01 -2.98693324e-01 -5.99587462e-03 4.12530194e+01] [ 2.98687158e-01 9.54349148e-01 -1.91971096e-03 7.20595869e+00] [ 6.29556268e-03 4.11476158e-05 9.99980182e-01 2.09835249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.28, Y:7.21, Z:0.21 [[ 9.54217018e-01 -2.99055076e-01 -5.99533326e-03 4.12810310e+01] [ 2.99048906e-01 9.54235851e-01 -1.92140017e-03 7.21423419e+00] [ 6.29556641e-03 4.05348840e-05 9.99980182e-01 2.10441025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:7.22, Z:0.21 [[ 9.54095106e-01 -2.99443802e-01 -5.99485988e-03 4.13080542e+01] [ 2.99437630e-01 9.54113939e-01 -1.92287598e-03 7.22188368e+00] [ 6.29557267e-03 3.95199290e-05 9.99980182e-01 2.11133309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.33, Y:7.23, Z:0.21 [[ 9.54172263e-01 -2.99197863e-01 -5.99432086e-03 4.13341386e+01] [ 2.99191677e-01 9.54191090e-01 -1.92455485e-03 7.22935503e+00] [ 6.29555026e-03 4.29059490e-05 9.99980182e-01 2.09842519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.37, Y:7.23, Z:0.21 [[ 9.55526144e-01 -2.94845630e-01 -5.98692937e-03 4.13684870e+01] [ 2.94839213e-01 9.55544894e-01 -1.94754555e-03 7.23330429e+00] [ 6.29500509e-03 9.57491444e-05 9.99980182e-01 2.06710938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.39, Y:7.25, Z:0.21 [[ 9.53830329e-01 -3.00285738e-01 -6.01495070e-03 4.13897966e+01] [ 3.00279978e-01 9.53849293e-01 -1.86026252e-03 7.24630831e+00] [ 6.29596677e-03 -3.17944500e-05 9.99980180e-01 2.10435796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.41, Y:7.25, Z:0.21 [[ 9.53985786e-01 -2.99791934e-01 -5.99309660e-03 4.14148773e+01] [ 2.99785736e-01 9.54004609e-01 -1.92818835e-03 7.25244934e+00] [ 6.29549710e-03 4.28193989e-05 9.99980182e-01 2.09949687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.44, Y:7.26, Z:0.21 [[ 9.53527856e-01 -3.01245413e-01 -5.98576709e-03 4.14431338e+01] [ 3.01239101e-01 9.53546642e-01 -1.95095242e-03 7.26088899e+00] [ 6.29542357e-03 5.71403862e-05 9.99980182e-01 2.11057966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.47, Y:7.27, Z:0.21 [[ 9.54123900e-01 -2.99352085e-01 -5.99267041e-03 4.14704728e+01] [ 2.99345870e-01 9.54142718e-01 -1.92951212e-03 7.26679213e+00] [ 6.29546631e-03 4.71124886e-05 9.99980182e-01 2.09352847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.50, Y:7.28, Z:0.21 [[ 9.53099276e-01 -3.02598518e-01 -5.99219354e-03 4.14978955e+01] [ 3.02592358e-01 9.53118112e-01 -1.93099193e-03 7.27628095e+00] [ 6.29558349e-03 2.72350329e-05 9.99980182e-01 2.10401525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.52, Y:7.28, Z:0.21 [[ 9.53206464e-01 -3.02260708e-01 -5.99172014e-03 4.15226383e+01] [ 3.02254532e-01 9.53225295e-01 -1.93245975e-03 7.28351152e+00] [ 6.29556585e-03 3.10085581e-05 9.99980182e-01 2.08860621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.051858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:7.29, Z:0.21 [[ 9.53801430e-01 -3.00378150e-01 -5.98332945e-03 4.15552974e+01] [ 3.00371773e-01 9.53820194e-01 -1.95846631e-03 7.28885500e+00] [ 6.29530094e-03 7.07646937e-05 9.99980182e-01 2.09285041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:7.30, Z:0.21 [[ 9.52893722e-01 -3.03244957e-01 -6.00431768e-03 4.15854915e+01] [ 3.03239046e-01 9.52912638e-01 -1.89345889e-03 7.29714133e+00] [ 6.29577206e-03 -1.64784716e-05 9.99980181e-01 2.08904244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.61, Y:7.30, Z:0.21 [[ 9.52371878e-01 -3.04879689e-01 -6.01515798e-03 4.16113375e+01] [ 3.04874022e-01 9.52390871e-01 -1.85990043e-03 7.30494675e+00] [ 6.29582741e-03 -6.25485417e-05 9.99980179e-01 2.07496883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.64, Y:7.31, Z:0.21 [[ 9.51829623e-01 -3.06568433e-01 -6.01367801e-03 4.16392820e+01] [ 3.06562772e-01 9.51848618e-01 -1.86447680e-03 7.31242098e+00] [ 6.29570084e-03 -6.89055524e-05 9.99980180e-01 2.09490107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.67, Y:7.32, Z:0.21 [[ 9.50531049e-01 -3.10571275e-01 -6.01734393e-03 4.16664744e+01] [ 3.10565764e-01 9.50550089e-01 -1.85314351e-03 7.31912868e+00] [ 6.29531995e-03 -1.07310569e-04 9.99980179e-01 2.09547373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.69, Y:7.33, Z:0.21 [[ 9.48838525e-01 -3.15704322e-01 -6.01954374e-03 4.16867536e+01] [ 3.15698958e-01 9.48857607e-01 -1.84634597e-03 7.33167234e+00] [ 6.29458927e-03 -1.48479498e-04 9.99980178e-01 2.12785790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:7.34, Z:0.21 [[ 9.48229588e-01 -3.17529191e-01 -5.98843093e-03 4.17132283e+01] [ 3.17523256e-01 9.48248496e-01 -1.94227331e-03 7.33963011e+00] [ 6.29524909e-03 -5.97450722e-05 9.99980183e-01 2.12230700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:7.35, Z:0.21 [[ 9.47661558e-01 -3.19220433e-01 -5.99057977e-03 4.17395108e+01] [ 3.19214574e-01 9.47680489e-01 -1.93565204e-03 7.34696901e+00] [ 6.29505525e-03 -7.79373374e-05 9.99980183e-01 2.13026066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.291858063999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:41.77, Y:7.35, Z:0.21 [[ 9.48396246e-01 -3.17031084e-01 -5.98773985e-03 4.17733934e+01] [ 3.17025126e-01 9.48415146e-01 -1.94439752e-03 7.35303175e+00] [ 6.29529762e-03 -5.42046723e-05 9.99980183e-01 2.14880374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.79, Y:7.37, Z:0.21 [[ 9.47423931e-01 -3.19924608e-01 -6.01168290e-03 4.17944838e+01] [ 3.19919175e-01 9.47442992e-01 -1.87056527e-03 7.36570326e+00] [ 6.29416669e-03 -1.51034334e-04 9.99980180e-01 2.12468096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:7.38, Z:0.21 [[ 9.47195766e-01 -3.20599960e-01 -5.98723115e-03 4.18213870e+01] [ 3.20594064e-01 9.47214685e-01 -1.94580330e-03 7.37512625e+00] [ 6.29501773e-03 -7.64141208e-05 9.99980183e-01 2.08752342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:7.38, Z:0.21 [[ 9.47378501e-01 -3.20059450e-01 -5.99373154e-03 4.18473905e+01] [ 3.20053670e-01 9.47397456e-01 -1.92579856e-03 7.38431807e+00] [ 6.29481604e-03 -9.38556276e-05 9.99980183e-01 2.10043629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.87, Y:7.39, Z:0.21 [[ 9.47635800e-01 -3.19296818e-01 -5.99433012e-03 4.18742126e+01] [ 3.19291034e-01 9.47654755e-01 -1.92395893e-03 7.39293330e+00] [ 6.29486940e-03 -9.07235006e-05 9.99980183e-01 2.12527905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.90, Y:7.40, Z:0.22 [[ 9.47799739e-01 -3.18809929e-01 -5.99032761e-03 4.19008668e+01] [ 3.18804058e-01 9.47818666e-01 -1.93624600e-03 7.40199193e+00] [ 6.29503877e-03 -7.45672967e-05 9.99980183e-01 2.16449813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.471858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.94, Y:7.41, Z:0.22 [[ 9.50064973e-01 -3.11994748e-01 -5.98533295e-03 4.19364464e+01] [ 3.11988644e-01 9.50083826e-01 -1.95156430e-03 7.40669126e+00] [ 6.29544585e-03 -1.32430309e-05 9.99980183e-01 2.19235425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.96, Y:7.42, Z:0.22 [[ 9.49947977e-01 -3.12350143e-01 -6.01906534e-03 4.19634550e+01] [ 3.12344701e-01 9.49967038e-01 -1.84794612e-03 7.41574629e+00] [ 6.29511990e-03 -1.24570483e-04 9.99980178e-01 2.19460029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.98, Y:7.43, Z:0.22 [[ 9.48315853e-01 -3.17270898e-01 -6.01832959e-03 4.19814334e+01] [ 3.17265541e-01 9.48334937e-01 -1.85020416e-03 7.43148008e+00] [ 6.29440815e-03 -1.54830661e-04 9.99980178e-01 2.18081508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.01, Y:7.44, Z:0.22 [[ 9.48275800e-01 -3.17391233e-01 -5.98433691e-03 4.20096397e+01] [ 3.17385220e-01 9.48294682e-01 -1.95429486e-03 7.44250238e+00] [ 6.29519092e-03 -4.61295627e-05 9.99980184e-01 2.16971940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.03, Y:7.45, Z:0.22 [[ 9.48758426e-01 -3.15945490e-01 -5.99130055e-03 4.20344897e+01] [ 3.15939582e-01 9.48777342e-01 -1.93297450e-03 7.45219282e+00] [ 6.29512479e-03 -5.89631462e-05 9.99980184e-01 2.17691395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.07, Y:7.46, Z:0.22 [[ 9.50700653e-01 -3.10052382e-01 -5.98236336e-03 4.20685492e+01] [ 3.10046185e-01 9.50719475e-01 -1.96030743e-03 7.45700310e+00] [ 6.29534734e-03 8.85660880e-06 9.99980184e-01 2.20696542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.09, Y:7.47, Z:0.22 [[ 9.48467263e-01 -3.16818059e-01 -6.01400105e-03 4.20892334e+01] [ 3.16812609e-01 9.48486319e-01 -1.86339194e-03 7.47293680e+00] [ 6.29455394e-03 -1.37945112e-04 9.99980180e-01 2.19056313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:7.48, Z:0.22 [[ 9.48988929e-01 -3.15252444e-01 -5.99242742e-03 4.21135615e+01] [ 3.15246546e-01 9.49007847e-01 -1.92929145e-03 7.48145573e+00] [ 6.29507449e-03 -5.82158208e-05 9.99980184e-01 2.15225826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.711858064 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:42.15, Y:7.49, Z:0.21 [[ 9.50143958e-01 -3.11754255e-01 -5.97864199e-03 4.21487908e+01] [ 3.11748022e-01 9.50162767e-01 -1.97133325e-03 7.48830845e+00] [ 6.29525455e-03 9.22055936e-06 9.99980185e-01 2.11524479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:42.17, Y:7.50, Z:0.22 [[ 9.48506641e-01 -3.16700144e-01 -6.01419542e-03 4.21695195e+01] [ 3.16694696e-01 9.48525698e-01 -1.86279623e-03 7.50319492e+00] [ 6.29456674e-03 -1.37789189e-04 9.99980180e-01 2.16983390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77185806399999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:42.20, Y:7.51, Z:0.21 [[ 9.48216658e-01 -3.17567938e-01 -5.98106673e-03 4.21961064e+01] [ 3.17561869e-01 9.48235521e-01 -1.96370020e-03 7.51293221e+00] [ 6.29506815e-03 -3.73454865e-05 9.99980185e-01 2.14595967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.801858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.23, Y:7.52, Z:0.21 [[ 9.48396153e-01 -3.17031491e-01 -5.98089855e-03 4.22271088e+01] [ 3.17025408e-01 9.48415011e-01 -1.96421229e-03 7.52039529e+00] [ 6.29509111e-03 -3.32454252e-05 9.99980185e-01 2.14857719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.831858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:7.53, Z:0.22 [[ 9.47548023e-01 -3.19557284e-01 -5.99047256e-03 4.22557317e+01] [ 3.19551435e-01 9.47566956e-01 -1.93509905e-03 7.52946911e+00] [ 6.29474884e-03 -8.06648249e-05 9.99980185e-01 2.18349610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.28, Y:7.54, Z:0.22 [[ 9.46644286e-01 -3.22224536e-01 -5.99536284e-03 4.22822374e+01] [ 3.22218835e-01 9.46663264e-01 -1.92023964e-03 7.53827572e+00] [ 6.29433809e-03 -1.14034943e-04 9.99980184e-01 2.18742252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:7.55, Z:0.22 [[ 9.44610994e-01 -3.28137446e-01 -5.99055478e-03 4.23061330e+01] [ 3.28131771e-01 9.44629979e-01 -1.93481562e-03 7.54927518e+00] [ 6.29374309e-03 -1.38043248e-04 9.99980185e-01 2.22757667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.34, Y:7.56, Z:0.22 [[ 9.45104406e-01 -3.26713994e-01 -5.96890058e-03 4.23368032e+01] [ 3.26707876e-01 9.45123252e-01 -2.00036128e-03 7.55727192e+00] [ 6.29489276e-03 -5.95365758e-05 9.99980185e-01 2.22397050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:7.57, Z:0.22 [[ 9.45388688e-01 -3.25890180e-01 -5.98483990e-03 4.23639690e+01] [ 3.25884351e-01 9.45407626e-01 -1.95210682e-03 7.56566671e+00] [ 6.29428572e-03 -1.04865959e-04 9.99980185e-01 2.21368109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.981858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.39, Y:7.58, Z:0.22 [[ 9.44888930e-01 -3.27336254e-01 -5.99062228e-03 4.23898870e+01] [ 3.27330564e-01 9.44907910e-01 -1.93461071e-03 7.57732280e+00] [ 6.29385460e-03 -1.32921523e-04 9.99980185e-01 2.24004851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.011858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:7.59, Z:0.23 [[ 9.44534717e-01 -3.28357059e-01 -5.98417760e-03 4.24173849e+01] [ 3.28351266e-01 9.44553666e-01 -1.95409412e-03 7.58734112e+00] [ 6.29401749e-03 -1.19202552e-04 9.99980185e-01 2.28376445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.041858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.45, Y:7.60, Z:0.23 [[ 9.44770769e-01 -3.27677067e-01 -5.99454114e-03 4.24452080e+01] [ 3.27671459e-01 9.44789775e-01 -1.92275078e-03 7.59565447e+00] [ 6.29362251e-03 -1.47681305e-04 9.99980184e-01 2.25246727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:7.60, Z:0.23 [[ 9.45114540e-01 -3.26684360e-01 -5.98631826e-03 4.24734626e+01] [ 3.26678575e-01 9.45133491e-01 -1.94758596e-03 7.60473112e+00] [ 6.29411575e-03 -1.14910103e-04 9.99980185e-01 2.25818379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:7.61, Z:0.22 [[ 9.45182766e-01 -3.26486827e-01 -5.99092327e-03 4.24990058e+01] [ 3.26481125e-01 9.45201743e-01 -1.93368362e-03 7.61422378e+00] [ 6.29395335e-03 -1.28238936e-04 9.99980185e-01 2.23580619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.53, Y:7.62, Z:0.23 [[ 9.45309944e-01 -3.26118493e-01 -5.98646933e-03 4.25273833e+01] [ 3.26112699e-01 9.45328893e-01 -1.94710791e-03 7.62402715e+00] [ 6.29417032e-03 -1.11643202e-04 9.99980185e-01 2.28484848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.55, Y:7.63, Z:0.23 [[ 9.45582977e-01 -3.25325898e-01 -5.99118331e-03 4.25524002e+01] [ 3.25320179e-01 9.45601949e-01 -1.93290733e-03 7.63318394e+00] [ 6.29409943e-03 -1.21328554e-04 9.99980185e-01 2.28207384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.191858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:7.65, Z:0.23 [[ 9.45737592e-01 -3.24876201e-01 -5.98844167e-03 4.25783103e+01] [ 3.24870420e-01 9.45756545e-01 -1.94116031e-03 7.64519648e+00] [ 6.29424469e-03 -1.09639281e-04 9.99980185e-01 2.28550153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.221858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:7.66, Z:0.23 [[ 9.46285053e-01 -3.23278118e-01 -5.98813296e-03 4.26061690e+01] [ 3.23272299e-01 9.46303994e-01 -1.94208928e-03 7.65506646e+00] [ 6.29442911e-03 -9.80274540e-05 9.99980185e-01 2.29202695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.251858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:42.63, Y:7.67, Z:0.23 [[ 9.46620321e-01 -3.22294971e-01 -5.99322367e-03 4.26335046e+01] [ 3.22289230e-01 9.46639287e-01 -1.92678589e-03 7.66536059e+00] [ 6.29441439e-03 -1.07616762e-04 9.99980184e-01 2.29971558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.66, Y:7.68, Z:0.23 [[ 9.47267517e-01 -3.20387789e-01 -5.99297350e-03 4.26577363e+01] [ 3.20382004e-01 9.47286470e-01 -1.92753751e-03 7.67731464e+00] [ 6.29462219e-03 -9.41471923e-05 9.99980184e-01 2.30522801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.69, Y:7.69, Z:0.23 [[ 9.48133934e-01 -3.17814887e-01 -5.97829141e-03 4.26868065e+01] [ 3.17808773e-01 9.48152781e-01 -1.97160355e-03 7.68620036e+00] [ 6.29493859e-03 -3.06092280e-05 9.99980186e-01 2.28104014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.71, Y:7.70, Z:0.23 [[ 9.48339940e-01 -3.17199365e-01 -5.99342262e-03 4.27139047e+01] [ 3.17193526e-01 9.48358876e-01 -1.92610343e-03 7.69757126e+00] [ 6.29487432e-03 -7.44740453e-05 9.99980184e-01 2.29840179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.371858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.74, Y:7.71, Z:0.23 [[ 9.47556857e-01 -3.19531103e-01 -5.98976252e-03 4.27398599e+01] [ 3.19525241e-01 9.47575785e-01 -1.93710611e-03 7.71070355e+00] [ 6.29471957e-03 -7.83621362e-05 9.99980185e-01 2.28044828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.401858063999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:42.76, Y:7.72, Z:0.24 [[ 9.49095075e-01 -3.14932803e-01 -5.98898387e-03 4.27641524e+01] [ 3.14926834e-01 9.49113970e-01 -1.93943764e-03 7.72102242e+00] [ 6.29502079e-03 -4.53810118e-05 9.99980185e-01 2.35361314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.431858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:42.79, Y:7.73, Z:0.23 [[ 9.49220087e-01 -3.14556176e-01 -5.96975296e-03 4.27890183e+01] [ 3.14549837e-01 9.49238859e-01 -1.99692787e-03 7.73055025e+00] [ 6.29486748e-03 1.77392221e-05 9.99980187e-01 2.33332480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.82, Y:7.74, Z:0.24 [[ 9.49666518e-01 -3.13205798e-01 -5.96934680e-03 4.28186459e+01] [ 3.13199425e-01 9.49685278e-01 -1.99814126e-03 7.74060759e+00] [ 6.29483020e-03 2.79718705e-05 9.99980187e-01 2.37999814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.84, Y:7.75, Z:0.24 [[ 9.49688517e-01 -3.13138872e-01 -5.98060332e-03 4.28434458e+01] [ 3.13132710e-01 9.49707348e-01 -1.96451058e-03 7.74956902e+00] [ 6.29498755e-03 -7.04938748e-06 9.99980186e-01 2.36260469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52185806399999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:42.87, Y:7.76, Z:0.24 [[ 9.49524971e-01 -3.13634670e-01 -5.96851387e-03 4.28693155e+01] [ 3.13628291e-01 9.49543729e-01 -2.00057819e-03 7.76040752e+00] [ 6.29481560e-03 2.77041491e-05 9.99980187e-01 2.35596801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.551858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:42.90, Y:7.77, Z:0.24 [[ 9.50614691e-01 -3.10316112e-01 -5.96823477e-03 4.29026017e+01] [ 3.10309661e-01 9.50633425e-01 -2.00141046e-03 7.76665162e+00] [ 6.29467337e-03 5.05692720e-05 9.99980187e-01 2.36609609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581858063999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.93, Y:7.78, Z:0.24 [[ 9.49281510e-01 -3.14370287e-01 -5.99470442e-03 4.29266338e+01] [ 3.14364415e-01 9.49300437e-01 -1.92241300e-03 7.77903267e+00] [ 6.29512505e-03 -5.96106296e-05 9.99980184e-01 2.38216183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.611858063999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:42.95, Y:7.79, Z:0.24 [[ 9.48886285e-01 -3.15561549e-01 -5.97717367e-03 4.29511027e+01] [ 3.15555371e-01 9.48905110e-01 -1.97465323e-03 7.78873512e+00] [ 6.29489528e-03 -1.24078858e-05 9.99980187e-01 2.37167198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.98, Y:7.80, Z:0.24 [[ 9.48653046e-01 -3.16262219e-01 -5.96713646e-03 4.29810762e+01] [ 3.16255866e-01 9.48671813e-01 -2.00453226e-03 7.79733416e+00] [ 6.29481198e-03 1.44637288e-05 9.99980187e-01 2.41034247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.671858064 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:43.01, Y:7.81, Z:0.24 [[ 9.48308405e-01 -3.17293973e-01 -5.97529923e-03 4.30050725e+01] [ 3.17287794e-01 9.48327230e-01 -1.98023444e-03 7.80595093e+00] [ 6.29485542e-03 -1.80165446e-05 9.99980187e-01 2.39036791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.03, Y:7.81, Z:0.24 [[ 9.47972242e-01 -3.18297079e-01 -5.96639819e-03 4.30323834e+01] [ 3.18290754e-01 9.47991018e-01 -2.00669938e-03 7.81414738e+00] [ 6.29481844e-03 3.24593821e-06 9.99980187e-01 2.40501217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.731858063999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:43.06, Y:7.82, Z:0.24 [[ 9.47471645e-01 -3.19784132e-01 -5.96582820e-03 4.30589063e+01] [ 3.19777825e-01 9.47490427e-01 -2.00839250e-03 7.82232636e+00] [ 6.29481716e-03 -4.84462327e-06 9.99980187e-01 2.41771670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.09, Y:7.83, Z:0.24 [[ 9.47232392e-01 -3.20492138e-01 -5.96525879e-03 4.30858485e+01] [ 3.20485835e-01 9.47251175e-01 -2.01008232e-03 7.83164919e+00] [ 6.29481398e-03 -7.76585760e-06 9.99980187e-01 2.42323746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.791858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.10, Y:7.85, Z:0.23 [[ 9.44181609e-01 -3.29371390e-01 -5.96469273e-03 4.31015560e+01] [ 3.29365253e-01 9.44200447e-01 -2.01176063e-03 7.84807673e+00] [ 6.29448194e-03 -6.50951381e-05 9.99980187e-01 2.31784372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.13, Y:7.86, Z:0.23 [[ 9.44647533e-01 -3.28033570e-01 -5.91739370e-03 4.31317463e+01] [ 3.28026525e-01 9.44666062e-01 -2.15176165e-03 7.85633746e+00] [ 6.29581106e-03 9.15942339e-05 9.99980177e-01 2.32903736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:7.86, Z:0.24 [[ 9.46935778e-01 -3.21368181e-01 -5.92660468e-03 4.31681594e+01] [ 3.21361177e-01 9.46954318e-01 -2.12449943e-03 7.85905795e+00] [ 6.29497041e-03 1.07183865e-04 9.99980181e-01 2.42716651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.19, Y:7.87, Z:0.24 [[ 9.45450062e-01 -3.25712452e-01 -5.96485005e-03 4.31925540e+01] [ 3.25706246e-01 9.45468877e-01 -2.01106312e-03 7.87122050e+00] [ 6.29460837e-03 -4.14291692e-05 9.99980188e-01 2.36257643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:7.88, Z:0.24 [[ 9.45497870e-01 -3.25573947e-01 -5.94842928e-03 4.32205726e+01] [ 3.25567432e-01 9.45516581e-01 -2.05970302e-03 7.87766728e+00] [ 6.29492415e-03 1.08299754e-05 9.99980187e-01 2.36482451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:7.88, Z:0.24 [[ 9.46355276e-01 -3.23073129e-01 -5.95347375e-03 4.32500654e+01] [ 3.23066659e-01 9.46374003e-01 -2.04476865e-03 7.88361995e+00] [ 6.29482259e-03 1.17087304e-05 9.99980187e-01 2.43494525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.971858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.28, Y:7.89, Z:0.24 [[ 9.46251638e-01 -3.23376358e-01 -5.96394515e-03 4.32767160e+01] [ 3.23370089e-01 9.46270432e-01 -2.01375655e-03 7.89204674e+00] [ 6.29470621e-03 -2.30410426e-05 9.99980188e-01 2.43214397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.30, Y:7.91, Z:0.23 [[ 9.44138060e-01 -3.29496223e-01 -5.96339422e-03 4.32976294e+01] [ 3.29490065e-01 9.44156891e-01 -2.01538671e-03 7.90626982e+00] [ 6.29444206e-03 -6.20758499e-05 9.99980188e-01 2.31336249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.33, Y:7.91, Z:0.24 [[ 9.46341654e-01 -3.23113382e-01 -5.93428250e-03 4.33325301e+01] [ 3.23106557e-01 9.46360258e-01 -2.10135888e-03 7.90943902e+00] [ 6.29494629e-03 7.11978528e-05 9.99980184e-01 2.42728984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.36, Y:7.92, Z:0.24 [[ 9.46318881e-01 -3.23179549e-01 -5.96285440e-03 4.33606373e+01] [ 3.23173256e-01 9.46337667e-01 -2.01688717e-03 7.91788872e+00] [ 6.29469040e-03 -1.84166586e-05 9.99980188e-01 2.43367105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.39, Y:7.93, Z:0.24 [[ 9.46208459e-01 -3.23502708e-01 -5.96238116e-03 4.33884616e+01] [ 3.23496413e-01 9.46227244e-01 -2.01828519e-03 7.92662916e+00] [ 6.29468822e-03 -1.90903980e-05 9.99980188e-01 2.43983749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.121858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.42, Y:7.94, Z:0.25 [[ 9.46029618e-01 -3.24025336e-01 -5.96190146e-03 4.34157115e+01] [ 3.24019042e-01 9.46048403e-01 -2.01970122e-03 7.93508797e+00] [ 6.29468172e-03 -2.10724285e-05 9.99980188e-01 2.45901400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.44, Y:7.94, Z:0.24 [[ 9.45586401e-01 -3.25316491e-01 -5.96139870e-03 4.34421758e+01] [ 3.25310214e-01 9.45605192e-01 -2.02118407e-03 7.94226976e+00] [ 6.29465408e-03 -2.80997096e-05 9.99980188e-01 2.43143140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.47, Y:7.95, Z:0.25 [[ 9.45064146e-01 -3.26830573e-01 -5.96118509e-03 4.34698972e+01] [ 3.26824321e-01 9.45082946e-01 -2.02181389e-03 7.95058003e+00] [ 6.29460496e-03 -3.75164583e-05 9.99980188e-01 2.45234548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:7.96, Z:0.25 [[ 9.44583267e-01 -3.28217796e-01 -5.96069099e-03 4.34979027e+01] [ 3.28211563e-01 9.44602073e-01 -2.02326956e-03 7.95811548e+00] [ 6.29455414e-03 -4.52211361e-05 9.99980188e-01 2.46559542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.53, Y:7.96, Z:0.25 [[ 9.43354853e-01 -3.31731966e-01 -5.96018332e-03 4.35250014e+01] [ 3.31725793e-01 9.43373679e-01 -2.02476395e-03 7.96457268e+00] [ 6.29435899e-03 -6.70756426e-05 9.99980188e-01 2.45044995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:7.97, Z:0.25 [[ 9.43139453e-01 -3.32343824e-01 -5.96277781e-03 4.35515261e+01] [ 3.32337712e-01 9.43158299e-01 -2.01713187e-03 7.97255584e+00] [ 6.29422469e-03 -7.92192888e-05 9.99980188e-01 2.45932310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.58, Y:7.98, Z:0.25 [[ 9.42793371e-01 -3.33324391e-01 -5.95901256e-03 4.35785225e+01] [ 3.33318229e-01 9.42812200e-01 -2.02819450e-03 7.98110047e+00] [ 6.29427644e-03 -7.40791798e-05 9.99980188e-01 2.45079518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.331858063999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.61, Y:7.99, Z:0.24 [[ 9.42270398e-01 -3.34799925e-01 -5.95883553e-03 4.36060675e+01] [ 3.34793789e-01 9.42289235e-01 -2.02871448e-03 7.98890620e+00] [ 6.29416003e-03 -8.33835240e-05 9.99980188e-01 2.44041260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.63, Y:8.00, Z:0.24 [[ 9.42020398e-01 -3.35502710e-01 -5.95834116e-03 4.36325836e+01] [ 3.35496579e-01 9.42039237e-01 -2.03016539e-03 7.99708702e+00] [ 6.29411715e-03 -8.65458668e-05 9.99980188e-01 2.44221486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.66, Y:8.01, Z:0.24 [[ 9.41926017e-01 -3.35767603e-01 -5.95776994e-03 4.36596251e+01] [ 3.35761466e-01 9.41944855e-01 -2.03184033e-03 8.00638000e+00] [ 6.29411690e-03 -8.65462989e-05 9.99980188e-01 2.44400775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.421858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:43.69, Y:8.01, Z:0.24 [[ 9.41587552e-01 -3.36715599e-01 -5.95719811e-03 4.36861422e+01] [ 3.36709471e-01 9.41606392e-01 -2.03351552e-03 8.01452681e+00] [ 6.29405221e-03 -9.11121184e-05 9.99980188e-01 2.44323682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.71, Y:8.02, Z:0.24 [[ 9.40139067e-01 -3.40738976e-01 -5.95702110e-03 4.37114316e+01] [ 3.40732925e-01 9.40157932e-01 -2.03403391e-03 8.02472702e+00] [ 6.29361527e-03 -1.17478479e-04 9.99980188e-01 2.39360086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.481858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.74, Y:8.03, Z:0.24 [[ 9.40498821e-01 -3.39744940e-01 -5.94507530e-03 4.37410365e+01] [ 3.39738648e-01 9.40517608e-01 -2.06897213e-03 8.03090880e+00] [ 6.29437081e-03 -7.39059936e-05 9.99980188e-01 2.43447113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.511858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.77, Y:8.04, Z:0.24 [[ 9.40036208e-01 -3.41022652e-01 -5.95630724e-03 4.37678066e+01] [ 3.41016594e-01 9.40055071e-01 -2.03611502e-03 8.03960645e+00] [ 6.29361817e-03 -1.17177758e-04 9.99980188e-01 2.42961805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.541858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.80, Y:8.05, Z:0.24 [[ 9.39448474e-01 -3.42638429e-01 -5.95574208e-03 4.37962028e+01] [ 3.42632393e-01 9.39467344e-01 -2.03776681e-03 8.04806220e+00] [ 6.29344241e-03 -1.26253235e-04 9.99980188e-01 2.42270942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.571858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.82, Y:8.06, Z:0.24 [[ 9.38774001e-01 -3.44481982e-01 -5.96149665e-03 4.38231153e+01] [ 3.44476090e-01 9.38792916e-01 -2.02095738e-03 8.05544352e+00] [ 6.29279423e-03 -1.56370809e-04 9.99980188e-01 2.42398484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.85, Y:8.06, Z:0.24 [[ 9.38417710e-01 -3.45451424e-01 -5.95940541e-03 4.38496677e+01] [ 3.45445512e-01 9.38436620e-01 -2.02706401e-03 8.06365503e+00] [ 6.29277642e-03 -1.56417092e-04 9.99980188e-01 2.39575432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.88, Y:8.07, Z:0.24 [[ 9.38229948e-01 -3.45961020e-01 -5.96128048e-03 4.38750797e+01] [ 3.45955153e-01 9.38248872e-01 -2.02159130e-03 8.07293486e+00] [ 6.29255647e-03 -1.65618204e-04 9.99980188e-01 2.42787948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.91, Y:8.08, Z:0.24 [[ 9.38452589e-01 -3.45356748e-01 -5.95440075e-03 4.39063175e+01] [ 3.45350742e-01 9.38471468e-01 -2.04165576e-03 8.08136460e+00] [ 6.29313480e-03 -1.40359584e-04 9.99980188e-01 2.42160218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.691858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.93, Y:8.09, Z:0.24 [[ 9.37934410e-01 -3.46761153e-01 -5.97875637e-03 4.39273308e+01] [ 3.46755627e-01 9.37953438e-01 -1.97055606e-03 8.09264849e+00] [ 6.29110739e-03 -2.24915081e-04 9.99980185e-01 2.43010181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.721858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:8.10, Z:0.24 [[ 9.37138553e-01 -3.48906705e-01 -5.95353856e-03 4.39526990e+01] [ 3.48900755e-01 9.37157450e-01 -2.04400752e-03 8.10378902e+00] [ 6.29257094e-03 -1.61675850e-04 9.99980189e-01 2.40719427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.751858064 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:43.99, Y:8.11, Z:0.24 [[ 9.38894796e-01 -3.44152842e-01 -5.94840451e-03 4.39866573e+01] [ 3.44146702e-01 9.38913632e-01 -2.05893495e-03 8.11131442e+00] [ 6.29362640e-03 -1.14000487e-04 9.99980188e-01 2.42458961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:8.12, Z:0.24 [[ 9.38358218e-01 -3.45612521e-01 -5.98664958e-03 4.40070977e+01] [ 3.45607118e-01 9.38377284e-01 -1.94755707e-03 8.12285834e+00] [ 6.29083608e-03 -2.41522521e-04 9.99980183e-01 2.43041845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.03, Y:8.13, Z:0.24 [[ 9.38385418e-01 -3.45539262e-01 -5.95190039e-03 4.40329696e+01] [ 3.45533216e-01 9.38404284e-01 -2.04851970e-03 8.13299867e+00] [ 6.29313281e-03 -1.34278264e-04 9.99980189e-01 2.43428024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.06, Y:8.15, Z:0.24 [[ 9.38323795e-01 -3.45706577e-01 -5.95132323e-03 4.40596386e+01] [ 3.45700524e-01 9.38342658e-01 -2.05019508e-03 8.14539673e+00] [ 6.29314639e-03 -1.33628730e-04 9.99980189e-01 2.42704767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.08, Y:8.16, Z:0.24 [[ 9.38921500e-01 -3.44079861e-01 -5.95539531e-03 4.40847916e+01] [ 3.44073849e-01 9.38940377e-01 -2.03837901e-03 8.15595668e+00] [ 6.29312628e-03 -1.35217908e-04 9.99980189e-01 2.42636636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.901858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.11, Y:8.17, Z:0.24 [[ 9.39232707e-01 -3.43229534e-01 -5.95061036e-03 4.41103986e+01] [ 3.43223418e-01 9.39251550e-01 -2.05225322e-03 8.16597892e+00] [ 6.29351392e-03 -1.14845484e-04 9.99980189e-01 2.42377995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.14, Y:8.18, Z:0.24 [[ 9.39516371e-01 -3.42452310e-01 -5.95021766e-03 4.41362326e+01] [ 3.42446171e-01 9.39535206e-01 -2.05339116e-03 8.17587319e+00] [ 6.29362752e-03 -1.08434645e-04 9.99980189e-01 2.42604078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.16, Y:8.19, Z:0.24 [[ 9.40341213e-01 -3.40180841e-01 -5.94964314e-03 4.41619219e+01] [ 3.40174646e-01 9.40360031e-01 -2.05505447e-03 8.18661020e+00] [ 6.29389676e-03 -9.14653316e-05 9.99980189e-01 2.42769425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99185806399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:44.19, Y:8.20, Z:0.24 [[ 9.40803014e-01 -3.38901605e-01 -5.94906570e-03 4.41869358e+01] [ 3.38895373e-01 9.40821819e-01 -2.05672472e-03 8.19695969e+00] [ 6.29403812e-03 -8.11380240e-05 9.99980189e-01 2.42786679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.22, Y:8.21, Z:0.24 [[ 9.41540090e-01 -3.36848439e-01 -5.94881490e-03 4.42166888e+01] [ 3.36842162e-01 9.41558880e-01 -2.05744986e-03 8.20674529e+00] [ 6.29420827e-03 -6.66401456e-05 9.99980189e-01 2.44783837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.051858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.24, Y:8.22, Z:0.24 [[ 9.41775536e-01 -3.36189364e-01 -5.96241023e-03 4.42391302e+01] [ 3.36183323e-01 9.41794405e-01 -2.01815278e-03 8.21886967e+00] [ 6.29384609e-03 -1.03815968e-04 9.99980188e-01 2.42868807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.081858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:8.23, Z:0.25 [[ 9.42677401e-01 -3.33652424e-01 -5.94790523e-03 4.42657712e+01] [ 3.33646068e-01 9.42696164e-01 -2.06003289e-03 8.23094985e+00] [ 6.29440241e-03 -4.25487383e-05 9.99980189e-01 2.45273637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.29, Y:8.24, Z:0.24 [[ 9.43307873e-01 -3.31865684e-01 -5.95187018e-03 4.42922717e+01] [ 3.31859364e-01 9.43326648e-01 -2.04858694e-03 8.24105184e+00] [ 6.29441345e-03 -4.27356629e-05 9.99980189e-01 2.44445971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.32, Y:8.25, Z:0.24 [[ 9.44215098e-01 -3.29275691e-01 -5.94713750e-03 4.43200709e+01] [ 3.29269234e-01 9.44233826e-01 -2.06223517e-03 8.25098302e+00] [ 6.29453231e-03 -1.10158231e-05 9.99980189e-01 2.44716432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.35, Y:8.26, Z:0.24 [[ 9.44758606e-01 -3.27712848e-01 -5.95536705e-03 4.43472348e+01] [ 3.27706509e-01 9.44777375e-01 -2.03851403e-03 8.26101963e+00] [ 6.29454329e-03 -2.57088712e-05 9.99980189e-01 2.44824094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:8.27, Z:0.24 [[ 9.45054841e-01 -3.26857559e-01 -5.95677125e-03 4.43732605e+01] [ 3.26851228e-01 9.45073614e-01 -2.03446954e-03 8.27208670e+00] [ 6.29456908e-03 -2.42927071e-05 9.99980189e-01 2.44268482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.40, Y:8.28, Z:0.24 [[ 9.45410962e-01 -3.25826148e-01 -5.95264965e-03 4.43985300e+01] [ 3.25819722e-01 9.45429702e-01 -2.04632660e-03 8.28250128e+00] [ 6.29455850e-03 -4.87105356e-06 9.99980189e-01 2.43535308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261858063999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:44.42, Y:8.29, Z:0.24 [[ 9.46524904e-01 -3.22575860e-01 -5.95142474e-03 4.44223606e+01] [ 3.22569348e-01 9.46543614e-01 -2.04984729e-03 8.29299425e+00] [ 6.29451434e-03 2.04843112e-05 9.99980189e-01 2.42593212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.291858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.45, Y:8.30, Z:0.24 [[ 9.46511456e-01 -3.22615466e-01 -5.94350738e-03 4.44490540e+01] [ 3.22608812e-01 9.46530115e-01 -2.07258081e-03 8.30352065e+00] [ 6.29435535e-03 4.42936302e-05 9.99980189e-01 2.42090110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:8.31, Z:0.24 [[ 9.47077843e-01 -3.20948947e-01 -5.94410858e-03 4.44768050e+01] [ 3.20942271e-01 9.47096495e-01 -2.07085513e-03 8.31111891e+00] [ 6.29428318e-03 5.35453088e-05 9.99980189e-01 2.43392161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:8.32, Z:0.24 [[ 9.45885378e-01 -3.24446400e-01 -5.94854006e-03 4.44966160e+01] [ 3.24439872e-01 9.45904082e-01 -2.05814054e-03 8.32375720e+00] [ 6.29450462e-03 1.68214689e-05 9.99980189e-01 2.40645973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.53, Y:8.33, Z:0.24 [[ 9.47489569e-01 -3.19731963e-01 -5.91516573e-03 4.45316100e+01] [ 3.19724742e-01 9.47508021e-01 -2.15398049e-03 8.33039176e+00] [ 6.29336338e-03 1.49649207e-04 9.99980185e-01 2.43206631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.56, Y:8.34, Z:0.24 [[ 9.47719469e-01 -3.19049214e-01 -5.95048013e-03 4.45605614e+01] [ 3.19042615e-01 9.47738148e-01 -2.05241337e-03 8.33912480e+00] [ 6.29431789e-03 4.66553686e-05 9.99980189e-01 2.42919119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.441858063999994 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:44.58, Y:8.35, Z:0.24 [[ 9.47288893e-01 -3.20325252e-01 -5.95696761e-03 4.45846438e+01] [ 3.20318796e-01 9.47307623e-01 -2.03376634e-03 8.34781812e+00] [ 6.29454754e-03 1.84355750e-05 9.99980189e-01 2.40734965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:8.36, Z:0.24 [[ 9.46894679e-01 -3.21488887e-01 -5.94663462e-03 4.46101076e+01] [ 3.21482268e-01 9.46913351e-01 -2.06343505e-03 8.35631480e+00] [ 6.29431915e-03 4.21180860e-05 9.99980190e-01 2.41872375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.64, Y:8.36, Z:0.24 [[ 9.46707606e-01 -3.22039466e-01 -5.94066965e-03 4.46384436e+01] [ 3.22032750e-01 9.46726243e-01 -2.08054909e-03 8.36423228e+00] [ 6.29420678e-03 5.65814664e-05 9.99980190e-01 2.42077031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.531858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.67, Y:8.37, Z:0.24 [[ 9.46411076e-01 -3.22909843e-01 -5.94214867e-03 4.46653756e+01] [ 3.22903171e-01 9.46429729e-01 -2.07630761e-03 8.37237466e+00] [ 6.29428632e-03 4.63018749e-05 9.99980190e-01 2.39654487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:8.38, Z:0.24 [[ 9.46100078e-01 -3.23819890e-01 -5.94317188e-03 4.46928833e+01] [ 3.23813255e-01 9.46118744e-01 -2.07337466e-03 8.37955099e+00] [ 6.29434626e-03 3.71420950e-05 9.99980190e-01 2.40541093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:8.38, Z:0.24 [[ 9.45668246e-01 -3.25078844e-01 -5.94258377e-03 4.47219167e+01] [ 3.25072223e-01 9.45686917e-01 -2.07505889e-03 8.38360304e+00] [ 6.29438147e-03 3.05483884e-05 9.99980190e-01 2.41401312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.75, Y:8.39, Z:0.24 [[ 9.45161193e-01 -3.26550067e-01 -5.94756767e-03 4.47465358e+01] [ 3.26543564e-01 9.45179906e-01 -2.06079290e-03 8.39172784e+00] [ 6.29447351e-03 5.64153636e-06 9.99980190e-01 2.41419637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:8.40, Z:0.24 [[ 9.45716230e-01 -3.24939341e-01 -5.93603822e-03 4.47760326e+01] [ 3.24932600e-01 9.45734858e-01 -2.09375421e-03 8.39846380e+00] [ 6.29426138e-03 5.12850058e-05 9.99980190e-01 2.42211716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.80, Y:8.41, Z:0.24 [[ 9.45639587e-01 -3.25162219e-01 -5.94154662e-03 4.48014198e+01] [ 3.25155581e-01 9.45658252e-01 -2.07801177e-03 8.40638226e+00] [ 6.29436351e-03 3.31231524e-05 9.99980190e-01 2.40675742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:8.41, Z:0.24 [[ 9.46146054e-01 -3.23685575e-01 -5.94084128e-03 4.48299369e+01] [ 3.23678895e-01 9.46164704e-01 -2.08002632e-03 8.41392155e+00] [ 6.29428884e-03 4.50837619e-05 9.99980190e-01 2.41224878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.86, Y:8.42, Z:0.24 [[ 9.46272115e-01 -3.23316812e-01 -5.94327652e-03 4.48575816e+01] [ 3.23310168e-01 9.46290778e-01 -2.07307992e-03 8.42288159e+00] [ 6.29432935e-03 4.01759846e-05 9.99980190e-01 2.40442144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:8.43, Z:0.24 [[ 9.46321702e-01 -3.23171619e-01 -5.94479858e-03 4.48832836e+01] [ 3.23165000e-01 9.46340374e-01 -2.06874116e-03 8.43034342e+00] [ 6.29436134e-03 3.65438214e-05 9.99980190e-01 2.39946709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.801858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.91, Y:8.44, Z:0.24 [[ 9.46586715e-01 -3.22394717e-01 -5.93608013e-03 4.49116958e+01] [ 3.22387927e-01 9.46605325e-01 -2.09356649e-03 8.43807603e+00] [ 6.29407984e-03 6.80216539e-05 9.99980190e-01 2.40590030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.831858063999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:44.94, Y:8.45, Z:0.24 [[ 9.46226826e-01 -3.23449417e-01 -5.93871285e-03 4.49401345e+01] [ 3.23442694e-01 9.46245461e-01 -2.08607496e-03 8.44597510e+00] [ 6.29421981e-03 5.30668003e-05 9.99980190e-01 2.40197994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.861858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.96, Y:8.45, Z:0.24 [[ 9.45252773e-01 -3.26284986e-01 -5.94155831e-03 4.49646140e+01] [ 3.26278370e-01 9.45271446e-01 -2.07798381e-03 8.45395150e+00] [ 6.29440034e-03 2.56179984e-05 9.99980190e-01 2.40964007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:8.46, Z:0.24 [[ 9.44817077e-01 -3.27544646e-01 -5.93268021e-03 4.49926597e+01] [ 3.27537896e-01 9.44835702e-01 -2.10320072e-03 8.46269780e+00] [ 6.29430020e-03 4.39623582e-05 9.99980190e-01 2.42303451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.02, Y:8.47, Z:0.24 [[ 9.44169691e-01 -3.29406051e-01 -5.93704230e-03 4.50195778e+01] [ 3.29399417e-01 9.44188357e-01 -2.09081421e-03 8.47204844e+00] [ 6.29441306e-03 1.84251387e-05 9.99980190e-01 2.43225862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:8.48, Z:0.24 [[ 9.42687764e-01 -3.33623349e-01 -5.93642022e-03 4.50448708e+01] [ 3.33616786e-01 9.42706455e-01 -2.09257897e-03 8.48065357e+00] [ 6.29443487e-03 -7.84084268e-06 9.99980190e-01 2.43945607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.981858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:45.07, Y:8.49, Z:0.24 [[ 9.41915350e-01 -3.35797908e-01 -5.93614995e-03 4.50716943e+01] [ 3.35791383e-01 9.41934055e-01 -2.09334540e-03 8.48959500e+00] [ 6.29440280e-03 -2.15538398e-05 9.99980190e-01 2.44822216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.011858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:8.50, Z:0.25 [[ 9.41121796e-01 -3.38015584e-01 -5.93552591e-03 4.50983688e+01] [ 3.38009093e-01 9.41140512e-01 -2.09511332e-03 8.49825271e+00] [ 6.29434484e-03 -3.45049146e-05 9.99980190e-01 2.45805358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:8.51, Z:0.25 [[ 9.40442442e-01 -3.39901146e-01 -5.93490012e-03 4.51251187e+01] [ 3.39894681e-01 9.40461168e-01 -2.09688450e-03 8.50590707e+00] [ 6.29427655e-03 -4.52418013e-05 9.99980190e-01 2.46269917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.15, Y:8.52, Z:0.24 [[ 9.39607996e-01 -3.42201068e-01 -5.93660910e-03 4.51510050e+01] [ 3.42194679e-01 9.39626748e-01 -2.09205080e-03 8.51752707e+00] [ 6.29409871e-03 -6.57683883e-05 9.99980190e-01 2.44739621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.18, Y:8.53, Z:0.24 [[ 9.39514909e-01 -3.42456600e-01 -5.93402314e-03 4.51763530e+01] [ 3.42450171e-01 9.39533647e-01 -2.09936022e-03 8.52725584e+00] [ 6.29415417e-03 -5.97270143e-05 9.99980190e-01 2.44559004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.20, Y:8.54, Z:0.24 [[ 9.39866589e-01 -3.41490241e-01 -5.93375351e-03 4.52033158e+01] [ 3.41483788e-01 9.39885319e-01 -2.10012204e-03 8.53737572e+00] [ 6.29421899e-03 -5.24460890e-05 9.99980190e-01 2.43406322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.23, Y:8.55, Z:0.25 [[ 9.40840709e-01 -3.38797199e-01 -5.93441782e-03 4.52302372e+01] [ 3.38790703e-01 9.40859424e-01 -2.09824578e-03 8.54735251e+00] [ 6.29433273e-03 -3.64105345e-05 9.99980190e-01 2.46033573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.191858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.26, Y:8.56, Z:0.25 [[ 9.41605661e-01 -3.36665180e-01 -5.94431759e-03 4.52570078e+01] [ 3.36658819e-01 9.41624423e-01 -2.07025662e-03 8.55629880e+00] [ 6.29429793e-03 -5.18415846e-05 9.99980189e-01 2.45480842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:8.57, Z:0.24 [[ 9.42523522e-01 -3.34087033e-01 -5.93846113e-03 4.52847327e+01] [ 3.34080516e-01 9.42542230e-01 -2.08679526e-03 8.56620845e+00] [ 6.29442163e-03 -1.70705362e-05 9.99980190e-01 2.43533906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.31, Y:8.58, Z:0.24 [[ 9.42968745e-01 -3.32828205e-01 -5.94410831e-03 4.53083598e+01] [ 3.32821764e-01 9.42987479e-01 -2.07085314e-03 8.57756814e+00] [ 6.29445804e-03 -2.55788313e-05 9.99980189e-01 2.43936366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.33, Y:8.59, Z:0.24 [[ 9.44148836e-01 -3.29465901e-01 -5.93258867e-03 4.53343233e+01] [ 3.29459189e-01 9.44167474e-01 -2.10334486e-03 8.58909691e+00] [ 6.29433767e-03 3.13247534e-05 9.99980190e-01 2.43421937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.36, Y:8.60, Z:0.24 [[ 9.44056368e-01 -3.29730776e-01 -5.93199731e-03 4.53612483e+01] [ 3.29724058e-01 9.44075005e-01 -2.10501133e-03 8.59872705e+00] [ 6.29433741e-03 3.13271209e-05 9.99980190e-01 2.43601222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:8.61, Z:0.24 [[ 9.44196708e-01 -3.29328705e-01 -5.93140628e-03 4.53872702e+01] [ 3.29321969e-01 9.44215337e-01 -2.10667539e-03 8.60915424e+00] [ 6.29431346e-03 3.57735760e-05 9.99980190e-01 2.43169884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.371858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:8.62, Z:0.24 [[ 9.44933248e-01 -3.27209406e-01 -5.92964132e-03 4.54137912e+01] [ 3.27202597e-01 9.44951851e-01 -2.11164107e-03 8.61934874e+00] [ 6.29417436e-03 5.51658216e-05 9.99980190e-01 2.44180089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.44, Y:8.63, Z:0.25 [[ 9.45035292e-01 -3.26914552e-01 -5.93073006e-03 4.54367547e+01] [ 3.26907756e-01 9.45053899e-01 -2.10857880e-03 8.63005475e+00] [ 6.29418467e-03 5.38797211e-05 9.99980190e-01 2.45698690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:8.64, Z:0.25 [[ 9.45772093e-01 -3.24777160e-01 -5.91129839e-03 4.54665576e+01] [ 3.24769981e-01 9.45790558e-01 -2.16315691e-03 8.63806914e+00] [ 6.29339416e-03 1.26041177e-04 9.99980188e-01 2.45634236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.49, Y:8.65, Z:0.25 [[ 9.45654672e-01 -3.25118557e-01 -5.93008296e-03 4.54925170e+01] [ 3.25111714e-01 9.45673263e-01 -2.11037288e-03 8.64717196e+00] [ 6.29404228e-03 6.77445425e-05 9.99980190e-01 2.45894635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:8.66, Z:0.25 [[ 9.45716386e-01 -3.24939046e-01 -5.92735019e-03 4.55185844e+01] [ 3.24932152e-01 9.45734958e-01 -2.11804743e-03 8.65677429e+00] [ 6.29393859e-03 7.70855091e-05 9.99980190e-01 2.46591874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:8.67, Z:0.25 [[ 9.45863848e-01 -3.24509513e-01 -5.92930297e-03 4.55468988e+01] [ 3.24502645e-01 9.45882429e-01 -2.11256659e-03 8.66749299e+00] [ 6.29397146e-03 7.41258597e-05 9.99980190e-01 2.47662421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:8.68, Z:0.25 [[ 9.45958941e-01 -3.24232123e-01 -5.93389954e-03 4.55741638e+01] [ 3.24225331e-01 9.45977551e-01 -2.09967768e-03 8.67722230e+00] [ 6.29411870e-03 6.22883313e-05 9.99980190e-01 2.48507238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.60, Y:8.69, Z:0.25 [[ 9.45926823e-01 -3.24325775e-01 -5.93609403e-03 4.56002811e+01] [ 3.24319023e-01 9.45945447e-01 -2.09352800e-03 8.68640998e+00] [ 6.29420621e-03 5.51360772e-05 9.99980190e-01 2.49804604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.63, Y:8.69, Z:0.25 [[ 9.45978838e-01 -3.24174069e-01 -5.93394031e-03 4.56273122e+01] [ 3.24167276e-01 9.45997447e-01 -2.09955844e-03 8.69476831e+00] [ 6.29411478e-03 6.25485911e-05 9.99980190e-01 2.48840875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.65, Y:8.70, Z:0.25 [[ 9.45821159e-01 -3.24633826e-01 -5.93411819e-03 4.56543940e+01] [ 3.24627045e-01 9.45839773e-01 -2.09906078e-03 8.70391066e+00] [ 6.29415113e-03 5.89608427e-05 9.99980190e-01 2.49404010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:8.71, Z:0.25 [[ 9.45502608e-01 -3.25560509e-01 -5.93064104e-03 4.56807992e+01] [ 3.25553685e-01 9.45521206e-01 -2.10878169e-03 8.71296168e+00] [ 6.29408290e-03 6.31165403e-05 9.99980190e-01 2.48698432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.71, Y:8.72, Z:0.25 [[ 9.43972912e-01 -3.29969615e-01 -5.93260299e-03 4.57052527e+01] [ 3.29962912e-01 9.43991553e-01 -2.10329856e-03 8.72383638e+00] [ 6.29435173e-03 2.79179028e-05 9.99980190e-01 2.46855145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.731858063999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:45.73, Y:8.73, Z:0.25 [[ 9.43543194e-01 -3.31196533e-01 -5.92427322e-03 4.57337175e+01] [ 3.31189708e-01 9.43561792e-01 -2.12655168e-03 8.73339139e+00] [ 6.29422440e-03 4.44350495e-05 9.99980190e-01 2.45399933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.761858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:8.74, Z:0.24 [[ 9.42855511e-01 -3.33149112e-01 -5.92912201e-03 4.57618112e+01] [ 3.33142411e-01 9.42874153e-01 -2.11301986e-03 8.74241739e+00] [ 6.29436658e-03 1.70304210e-05 9.99980190e-01 2.44651759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.791858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.79, Y:8.75, Z:0.24 [[ 9.40852001e-01 -3.38765879e-01 -5.93220642e-03 4.57895181e+01] [ 3.38759344e-01 9.40870702e-01 -2.10441879e-03 8.75054592e+00] [ 6.29434450e-03 -2.96437262e-05 9.99980190e-01 2.44940540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.82, Y:8.76, Z:0.25 [[ 9.39845515e-01 -3.41548244e-01 -5.93339177e-03 4.58160373e+01] [ 3.41541785e-01 9.39864243e-01 -2.10111530e-03 8.75892111e+00] [ 6.29421501e-03 -5.17774238e-05 9.99980190e-01 2.45480418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:8.77, Z:0.25 [[ 9.38780504e-01 -3.44464718e-01 -5.93496640e-03 4.58435441e+01] [ 3.44458345e-01 9.38799261e-01 -2.09673134e-03 8.76838605e+00] [ 6.29399204e-03 -7.59781976e-05 9.99980190e-01 2.46512949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.87, Y:8.78, Z:0.25 [[ 9.36654339e-01 -3.50204831e-01 -5.93519811e-03 4.58683199e+01] [ 3.50198577e-01 9.36673136e-01 -2.09608648e-03 8.77790991e+00] [ 6.29340024e-03 -1.15189437e-04 9.99980190e-01 2.47708465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.90, Y:8.79, Z:0.25 [[ 9.35878653e-01 -3.52272619e-01 -5.92868967e-03 4.58951307e+01] [ 3.52266292e-01 9.35897425e-01 -2.11418500e-03 8.78763585e+00] [ 6.29341489e-03 -1.09856921e-04 9.99980190e-01 2.48102650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.941858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:8.80, Z:0.25 [[ 9.35364631e-01 -3.53635198e-01 -5.92904835e-03 4.59223809e+01] [ 3.53628905e-01 9.35383415e-01 -2.11318803e-03 8.79763449e+00] [ 6.29323116e-03 -1.20081529e-04 9.99980190e-01 2.47880413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.971858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:8.81, Z:0.25 [[ 9.34615833e-01 -3.55609429e-01 -5.93119253e-03 4.59484291e+01] [ 3.55603212e-01 9.34634642e-01 -2.10723490e-03 8.80898448e+00] [ 6.29285061e-03 -1.39696019e-04 9.99980190e-01 2.48177103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:45.98, Y:8.82, Z:0.25 [[ 9.34248468e-01 -3.56573461e-01 -5.93013681e-03 4.59752809e+01] [ 3.56567246e-01 9.34267278e-01 -2.11016208e-03 8.81986913e+00] [ 6.29276057e-03 -1.43076857e-04 9.99980190e-01 2.48396258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:8.83, Z:0.25 [[ 9.33890575e-01 -3.57509744e-01 -5.93095597e-03 4.60004494e+01] [ 3.57503562e-01 9.33909396e-01 -2.10789193e-03 8.83083884e+00] [ 6.29256741e-03 -1.51797483e-04 9.99980190e-01 2.49127153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.03, Y:8.84, Z:0.25 [[ 9.33996498e-01 -3.57232971e-01 -5.92835919e-03 4.60262880e+01] [ 3.57226738e-01 9.34015302e-01 -2.11508292e-03 8.84143129e+00] [ 6.29275556e-03 -1.42288368e-04 9.99980190e-01 2.48511120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:46.05, Y:8.86, Z:0.25 [[ 9.33097317e-01 -3.59575095e-01 -5.92865810e-03 4.60472349e+01] [ 3.59568914e-01 9.33116138e-01 -2.11425560e-03 8.85647821e+00] [ 6.29236020e-03 -1.58954926e-04 9.99980190e-01 2.49691715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.121858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:46.07, Y:8.87, Z:0.25 [[ 9.33624155e-01 -3.58205372e-01 -5.90326326e-03 4.60744482e+01] [ 3.58198720e-01 9.33642815e-01 -2.18443476e-03 8.86715335e+00] [ 6.29401560e-03 -7.51002822e-05 9.99980190e-01 2.49672795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.151858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.10, Y:8.88, Z:0.25 [[ 9.34445277e-01 -3.56057774e-01 -5.90642547e-03 4.61028595e+01] [ 3.56051133e-01 9.34463941e-01 -2.17569641e-03 8.87765137e+00] [ 6.29401524e-03 -6.99202431e-05 9.99980190e-01 2.49395501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.13, Y:8.89, Z:0.25 [[ 9.35386090e-01 -3.53578665e-01 -5.91532640e-03 4.61290157e+01] [ 3.53572130e-01 9.35404790e-01 -2.15110235e-03 8.89030281e+00] [ 6.29380855e-03 -7.93833437e-05 9.99980191e-01 2.48834032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.211858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.15, Y:8.90, Z:0.25 [[ 9.35032920e-01 -3.54511510e-01 -5.91848419e-03 4.61505670e+01] [ 3.54505050e-01 9.35051646e-01 -2.14237872e-03 8.90293082e+00] [ 6.29358630e-03 -9.49379053e-05 9.99980191e-01 2.49706920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.18, Y:8.91, Z:0.25 [[ 9.36201253e-01 -3.51414870e-01 -5.89940271e-03 4.61808060e+01] [ 3.51408015e-01 9.36219840e-01 -2.19503970e-03 8.91323609e+00] [ 6.29450745e-03 -1.80984744e-05 9.99980189e-01 2.49847258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.21, Y:8.92, Z:0.25 [[ 9.36669080e-01 -3.50165692e-01 -5.91805848e-03 4.62060990e+01] [ 3.50159137e-01 9.36687773e-01 -2.14353322e-03 8.92445263e+00] [ 6.29396481e-03 -6.44809592e-05 9.99980191e-01 2.50350199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.23, Y:8.94, Z:0.25 [[ 9.37125052e-01 -3.48943578e-01 -5.91746382e-03 4.62288559e+01] [ 3.48936989e-01 9.37143733e-01 -2.14517360e-03 8.93838086e+00] [ 6.29405868e-03 -5.45260871e-05 9.99980191e-01 2.51900735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.26, Y:8.95, Z:0.25 [[ 9.37930426e-01 -3.46773233e-01 -5.90265500e-03 4.62561363e+01] [ 3.46766343e-01 9.37948999e-01 -2.18597217e-03 8.94933408e+00] [ 6.29442599e-03 3.44772518e-06 9.99980190e-01 2.51474900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.361858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.28, Y:8.96, Z:0.25 [[ 9.37949452e-01 -3.46721678e-01 -5.90795279e-03 4.62794583e+01] [ 3.46714879e-01 9.37968058e-01 -2.17138123e-03 8.96158075e+00] [ 6.29433595e-03 -1.17293011e-05 9.99980190e-01 2.50886344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.31, Y:8.97, Z:0.25 [[ 9.38845684e-01 -3.44287644e-01 -5.89907212e-03 4.63051347e+01] [ 3.44280643e-01 9.38864217e-01 -2.19583351e-03 8.97454631e+00] [ 6.29442607e-03 3.06124745e-05 9.99980189e-01 2.51946356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.33, Y:8.99, Z:0.25 [[ 9.38929410e-01 -3.44059212e-01 -5.90107358e-03 4.63296952e+01] [ 3.44052241e-01 9.38947953e-01 -2.19032392e-03 8.98610378e+00] [ 6.29440208e-03 2.62819586e-05 9.99980190e-01 2.49942780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.36, Y:8.99, Z:0.25 [[ 9.39823248e-01 -3.41610238e-01 -5.89132911e-03 4.63606449e+01] [ 3.41603051e-01 9.39841710e-01 -2.21713000e-03 8.99456777e+00] [ 6.29431113e-03 7.12143169e-05 9.99980188e-01 2.51622065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:9.00, Z:0.25 [[ 9.39859491e-01 -3.41510080e-01 -5.91624928e-03 4.63857335e+01] [ 3.41503322e-01 9.39878112e-01 -2.14850852e-03 9.00414732e+00] [ 6.29429052e-03 -1.12265667e-06 9.99980191e-01 2.51980832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.511858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.41, Y:9.02, Z:0.25 [[ 9.39707530e-01 -3.41928003e-01 -5.91598743e-03 4.64117008e+01] [ 3.41921248e-01 9.39726152e-01 -2.14922929e-03 9.01541085e+00] [ 6.29428978e-03 -3.15485646e-06 9.99980191e-01 2.52498050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.44, Y:9.03, Z:0.25 [[ 9.39690416e-01 -3.41975044e-01 -5.91538222e-03 4.64364550e+01] [ 3.41968280e-01 9.39709034e-01 -2.15089373e-03 9.02585482e+00] [ 6.29429010e-03 -1.69886199e-06 9.99980191e-01 2.52342753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.46, Y:9.04, Z:0.25 [[ 9.39370222e-01 -3.42853609e-01 -5.91512019e-03 4.64607506e+01] [ 3.42846857e-01 9.39388845e-01 -2.15161410e-03 9.03738414e+00] [ 6.29428659e-03 -6.81815069e-06 9.99980191e-01 2.52675056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.49, Y:9.05, Z:0.25 [[ 9.39712796e-01 -3.41913675e-01 -5.90760396e-03 4.64877822e+01] [ 3.41906776e-01 9.39731365e-01 -2.17225233e-03 9.04839241e+00] [ 6.29428351e-03 2.14434878e-05 9.99980191e-01 2.50908316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.51, Y:9.06, Z:0.25 [[ 9.39458974e-01 -3.42610345e-01 -5.91500487e-03 4.65138919e+01] [ 3.42603587e-01 9.39477595e-01 -2.15193206e-03 9.05874785e+00] [ 6.29428874e-03 -4.84999585e-06 9.99980191e-01 2.51917060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.54, Y:9.07, Z:0.25 [[ 9.39297822e-01 -3.43051931e-01 -5.91393991e-03 4.65409828e+01] [ 3.43045164e-01 9.39316439e-01 -2.15485356e-03 9.06850294e+00] [ 6.29428765e-03 -4.69922747e-06 9.99980191e-01 2.51818220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.57, Y:9.08, Z:0.25 [[ 9.38794965e-01 -3.44425617e-01 -5.91681890e-03 4.65661436e+01] [ 3.44418926e-01 9.38813610e-01 -2.14696116e-03 9.07797631e+00] [ 6.29425853e-03 -2.23080897e-05 9.99980191e-01 2.51580578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721858063999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.59, Y:9.09, Z:0.25 [[ 9.37985751e-01 -3.46623330e-01 -5.91597364e-03 4.65913681e+01] [ 3.46616668e-01 9.38004406e-01 -2.14927632e-03 9.08716843e+00] [ 6.29419865e-03 -3.45845096e-05 9.99980191e-01 2.50206646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:9.10, Z:0.25 [[ 9.37200135e-01 -3.48741961e-01 -5.91206889e-03 4.66184627e+01] [ 3.48735274e-01 9.37218781e-01 -2.15996406e-03 9.09717580e+00] [ 6.29417210e-03 -3.74283511e-05 9.99980191e-01 2.51215109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:46.64, Y:9.11, Z:0.25 [[ 9.36510517e-01 -3.50589632e-01 -5.91290228e-03 4.66444685e+01] [ 3.50582996e-01 9.36529181e-01 -2.15768402e-03 9.10723363e+00] [ 6.29406717e-03 -5.22692161e-05 9.99980191e-01 2.52004134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.67, Y:9.12, Z:0.25 [[ 9.35377712e-01 -3.53600889e-01 -5.91157359e-03 4.66717939e+01] [ 3.53594290e-01 9.35396390e-01 -2.16131604e-03 9.11747437e+00] [ 6.29390787e-03 -6.86518216e-05 9.99980191e-01 2.52249104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:9.13, Z:0.25 [[ 9.35053468e-01 -3.54457369e-01 -5.91480355e-03 4.66993698e+01] [ 3.54450843e-01 9.35072172e-01 -2.15249422e-03 9.12628681e+00] [ 6.29373564e-03 -8.38099251e-05 9.99980191e-01 2.52013108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.871858063999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:46.73, Y:9.13, Z:0.25 [[ 9.34728712e-01 -3.55312817e-01 -5.91921506e-03 4.67268268e+01] [ 3.55306385e-01 9.34747448e-01 -2.14044963e-03 9.13480071e+00] [ 6.29350036e-03 -1.02395183e-04 9.99980190e-01 2.52056244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901858063999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:46.75, Y:9.15, Z:0.25 [[ 9.33289005e-01 -3.59077332e-01 -5.92481117e-03 4.67493934e+01] [ 3.59071072e-01 9.33307800e-01 -2.12517450e-03 9.14581649e+00] [ 6.29277446e-03 -1.44026308e-04 9.99980190e-01 2.52258339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.931858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.78, Y:9.16, Z:0.25 [[ 9.32819121e-01 -3.60296502e-01 -5.90919376e-03 4.67756056e+01] [ 3.60289997e-01 9.32837831e-01 -2.16774696e-03 9.15556007e+00] [ 6.29335114e-03 -1.06907586e-04 9.99980191e-01 2.52623994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:46.80, Y:9.16, Z:0.25 [[ 9.32448194e-01 -3.61255387e-01 -5.90859855e-03 4.68015974e+01] [ 3.61248891e-01 9.32466907e-01 -2.16936811e-03 9.16499601e+00] [ 6.29326853e-03 -1.11651297e-04 9.99980191e-01 2.52803506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99185806399999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.83, Y:9.17, Z:0.25 [[ 9.32237102e-01 -3.61799780e-01 -5.90800572e-03 4.68280713e+01] [ 3.61793284e-01 9.32255816e-01 -2.17098141e-03 9.17455712e+00] [ 6.29323329e-03 -1.13607371e-04 9.99980191e-01 2.53445035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:9.19, Z:0.25 [[ 9.31727608e-01 -3.63109848e-01 -5.90782220e-03 4.68535476e+01] [ 3.63103376e-01 9.31746330e-01 -2.17148071e-03 9.18543823e+00] [ 6.29307768e-03 -1.21921654e-04 9.99980191e-01 2.51497839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.051858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.88, Y:9.20, Z:0.25 [[ 9.31930044e-01 -3.62590030e-01 -5.90451991e-03 4.68803171e+01] [ 3.62583490e-01 9.31948742e-01 -2.18046087e-03 9.19552034e+00] [ 6.29332328e-03 -1.08844447e-04 9.99980191e-01 2.52147400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.91, Y:9.21, Z:0.25 [[ 9.31943152e-01 -3.62556326e-01 -5.90530447e-03 4.69052266e+01] [ 3.62549799e-01 9.31961854e-01 -2.17832811e-03 9.20586122e+00] [ 6.29328514e-03 -1.10888985e-04 9.99980191e-01 2.51764741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.111858063999996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:46.93, Y:9.21, Z:0.26 [[ 9.32880483e-01 -3.60137745e-01 -5.89996338e-03 4.69325169e+01] [ 3.60131078e-01 9.32899136e-01 -2.19283409e-03 9.21407418e+00] [ 6.29379307e-03 -7.91080504e-05 9.99980191e-01 2.55469321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.96, Y:9.22, Z:0.26 [[ 9.32838906e-01 -3.60245317e-01 -5.90651440e-03 4.69591377e+01] [ 3.60238764e-01 9.32857600e-01 -2.17504426e-03 9.22386880e+00] [ 6.29348635e-03 -9.87895343e-05 9.99980191e-01 2.56124568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.99, Y:9.23, Z:0.26 [[ 9.32959827e-01 -3.59932051e-01 -5.90594778e-03 4.69853267e+01] [ 3.59925482e-01 9.32978515e-01 -2.17658173e-03 9.23388574e+00] [ 6.29354391e-03 -9.50377875e-05 9.99980191e-01 2.57627103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.01, Y:9.24, Z:0.26 [[ 9.32860052e-01 -3.60190576e-01 -5.90534475e-03 4.70121182e+01] [ 3.60184002e-01 9.32878738e-01 -2.17821658e-03 9.24384546e+00] [ 6.29354365e-03 -9.50394741e-05 9.99980191e-01 2.57806387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.04, Y:9.25, Z:0.26 [[ 9.32750519e-01 -3.60474138e-01 -5.90474069e-03 4.70390080e+01] [ 3.60467559e-01 9.32769204e-01 -2.17985286e-03 9.25440886e+00] [ 6.29354085e-03 -9.52085830e-05 9.99980191e-01 2.55563277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261858063999995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:47.06, Y:9.27, Z:0.25 [[ 9.32633886e-01 -3.60775731e-01 -5.90816191e-03 4.70632508e+01] [ 3.60769217e-01 9.32652594e-01 -2.17059308e-03 9.26533770e+00] [ 6.29335984e-03 -1.07114293e-04 9.99980191e-01 2.54841205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.291858063999996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:47.09, Y:9.27, Z:0.26 [[ 9.33596743e-01 -3.58276874e-01 -5.89933462e-03 4.70899293e+01] [ 3.58270160e-01 9.33615380e-01 -2.19445780e-03 9.27406240e+00] [ 6.29393302e-03 -6.48169057e-05 9.99980191e-01 2.57758869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.12, Y:9.28, Z:0.26 [[ 9.33911923e-01 -3.57454435e-01 -5.90319872e-03 4.71165639e+01] [ 3.57447770e-01 9.33930577e-01 -2.18401348e-03 9.28344934e+00] [ 6.29386309e-03 -7.04089938e-05 9.99980191e-01 2.58478652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:9.29, Z:0.26 [[ 9.34291908e-01 -3.56460083e-01 -5.90257857e-03 4.71436922e+01] [ 3.56453388e-01 9.34310551e-01 -2.18568822e-03 9.29392767e+00] [ 6.29395204e-03 -6.19233094e-05 9.99980191e-01 2.55112886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:9.30, Z:0.26 [[ 9.35203651e-01 -3.54061124e-01 -5.90360097e-03 4.71689579e+01] [ 3.54054398e-01 9.35222283e-01 -2.18292813e-03 9.30315303e+00] [ 6.29406916e-03 -4.87135240e-05 9.99980191e-01 2.58055468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.20, Y:9.31, Z:0.26 [[ 9.36243865e-01 -3.51301283e-01 -5.90197563e-03 4.71950340e+01] [ 3.51294474e-01 9.36262468e-01 -2.18731374e-03 9.31271772e+00] [ 6.29420439e-03 -2.54723569e-05 9.99980191e-01 2.58139364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441858063999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.22, Y:9.32, Z:0.26 [[ 9.36682998e-01 -3.50128741e-01 -5.90136382e-03 4.72216327e+01] [ 3.50121899e-01 9.36701588e-01 -2.18896315e-03 9.32210236e+00] [ 6.29423577e-03 -1.58321405e-05 9.99980191e-01 2.58505562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.471858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.25, Y:9.33, Z:0.26 [[ 9.37047283e-01 -3.49152646e-01 -5.90075058e-03 4.72483081e+01] [ 3.49145774e-01 9.37065862e-01 -2.19061500e-03 9.33155691e+00] [ 6.29425096e-03 -7.51229378e-06 9.99980191e-01 2.58984249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:47.27, Y:9.34, Z:0.26 [[ 9.36949528e-01 -3.49414898e-01 -5.90012400e-03 4.72746391e+01] [ 3.49408021e-01 9.36968105e-01 -2.19230131e-03 9.34161767e+00] [ 6.29425074e-03 -7.47496958e-06 9.99980191e-01 2.56277487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.30, Y:9.35, Z:0.26 [[ 9.38181592e-01 -3.46093206e-01 -5.89848961e-03 4.73024362e+01] [ 3.46086236e-01 9.38200134e-01 -2.19669675e-03 9.34976269e+00] [ 6.29422556e-03 1.95143896e-05 9.99980191e-01 2.60252492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.33, Y:9.36, Z:0.26 [[ 9.38294781e-01 -3.45786207e-01 -5.89933919e-03 4.73278353e+01] [ 3.45779244e-01 9.38313326e-01 -2.19441277e-03 9.35909598e+00] [ 6.29422625e-03 1.91370021e-05 9.99980191e-01 2.60100806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:9.37, Z:0.26 [[ 9.37151354e-01 -3.48873246e-01 -5.89906328e-03 4.73509802e+01] [ 3.48866339e-01 9.37169920e-01 -2.19515423e-03 9.37067158e+00] [ 6.29425524e-03 -7.92854135e-07 9.99980191e-01 2.56142724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.38, Y:9.38, Z:0.26 [[ 9.38290186e-01 -3.45798941e-01 -5.88383148e-03 4.73802750e+01] [ 3.45791718e-01 9.38308632e-01 -2.23602105e-03 9.37762562e+00] [ 6.29406358e-03 6.34564143e-05 9.99980190e-01 2.59634808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.41, Y:9.39, Z:0.26 [[ 9.38247122e-01 -3.45915523e-01 -5.89821502e-03 4.74076269e+01] [ 3.45908544e-01 9.38265661e-01 -2.19741331e-03 9.38584974e+00] [ 6.29421199e-03 2.14737396e-05 9.99980191e-01 2.59765639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.43, Y:9.40, Z:0.26 [[ 9.37984905e-01 -3.46625932e-01 -5.89759626e-03 4.74337931e+01] [ 3.46618957e-01 9.38003445e-01 -2.19907274e-03 9.39510595e+00] [ 6.29422125e-03 1.84783695e-05 9.99980191e-01 2.60184041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.46, Y:9.40, Z:0.26 [[ 9.37755434e-01 -3.47246268e-01 -5.89697989e-03 4.74600805e+01] [ 3.47239295e-01 9.37773975e-01 -2.20072434e-03 9.40458829e+00] [ 6.29422759e-03 1.60780740e-05 9.99980191e-01 2.60476571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.49, Y:9.41, Z:0.26 [[ 9.37464738e-01 -3.48030311e-01 -5.89636433e-03 4.74865733e+01] [ 3.48023342e-01 9.37483281e-01 -2.20237236e-03 9.41332568e+00] [ 6.29423532e-03 1.25740059e-05 9.99980191e-01 2.61053158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.51, Y:9.43, Z:0.26 [[ 9.36114367e-01 -3.51646317e-01 -5.89574884e-03 4.75094285e+01] [ 3.51639410e-01 9.36132933e-01 -2.20401881e-03 9.42530583e+00] [ 6.29423975e-03 -9.96396791e-06 9.99980191e-01 2.59685911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.54, Y:9.43, Z:0.26 [[ 9.37484943e-01 -3.47976269e-01 -5.87351439e-03 4.75407104e+01] [ 3.47968916e-01 9.37503339e-01 -2.26341211e-03 9.43186066e+00] [ 6.29405305e-03 7.81143361e-05 9.99980189e-01 2.62004464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.831858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.57, Y:9.44, Z:0.26 [[ 9.37551958e-01 -3.47795306e-01 -5.89504988e-03 4.75676634e+01] [ 3.47788311e-01 9.37570491e-01 -2.20585964e-03 9.44097731e+00] [ 6.29421243e-03 1.78785779e-05 9.99980191e-01 2.62091246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:9.45, Z:0.26 [[ 9.37878570e-01 -3.46913598e-01 -5.89443161e-03 4.75929925e+01] [ 3.46906575e-01 9.37897092e-01 -2.20751053e-03 9.44974530e+00] [ 6.29418568e-03 2.55597331e-05 9.99980191e-01 2.60830423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:9.46, Z:0.26 [[ 9.37943563e-01 -3.46737844e-01 -5.89416328e-03 4.76195439e+01] [ 3.46730813e-01 9.37962082e-01 -2.20822674e-03 9.45975211e+00] [ 6.29417744e-03 2.75040247e-05 9.99980191e-01 2.60122357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.65, Y:9.47, Z:0.26 [[ 9.38043505e-01 -3.46467384e-01 -5.89353995e-03 4.76463303e+01] [ 3.46460338e-01 9.38062019e-01 -2.20988908e-03 9.46950971e+00] [ 6.29416048e-03 3.10942599e-05 9.99980191e-01 2.59436766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:9.48, Z:0.26 [[ 9.38010619e-01 -3.46556419e-01 -5.89292055e-03 4.76732784e+01] [ 3.46549364e-01 9.38029129e-01 -2.21153955e-03 9.47660202e+00] [ 6.29415436e-03 3.22597144e-05 9.99980191e-01 2.59076461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.70, Y:9.49, Z:0.26 [[ 9.36885306e-01 -3.49587191e-01 -5.89230100e-03 4.76971074e+01] [ 3.49580185e-01 9.36903835e-01 -2.21318904e-03 9.48729480e+00] [ 6.29422194e-03 1.36726148e-05 9.99980191e-01 2.58030613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.011858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.73, Y:9.49, Z:0.26 [[ 9.37617456e-01 -3.47619090e-01 -5.87140509e-03 4.77280665e+01] [ 3.47611698e-01 9.37635836e-01 -2.26874838e-03 9.49313889e+00] [ 6.29390007e-03 8.62489921e-05 9.99980189e-01 2.59957197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041858063999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:47.76, Y:9.50, Z:0.26 [[ 9.37195178e-01 -3.48755623e-01 -5.89177349e-03 4.77557561e+01] [ 3.48748593e-01 9.37213698e-01 -2.21455885e-03 9.50018434e+00] [ 6.29419067e-03 2.07261638e-05 9.99980191e-01 2.60356763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.78, Y:9.51, Z:0.26 [[ 9.36025325e-01 -3.51883341e-01 -5.89114691e-03 4.77796674e+01] [ 3.51876362e-01 9.36043863e-01 -2.21622441e-03 9.51126153e+00] [ 6.29422436e-03 1.48683388e-06 9.99980191e-01 2.60051503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.81, Y:9.52, Z:0.26 [[ 9.36771796e-01 -3.49891592e-01 -5.87156151e-03 4.78105488e+01] [ 3.49884247e-01 9.36790195e-01 -2.26820784e-03 9.51829221e+00] [ 6.29404810e-03 7.04262548e-05 9.99980190e-01 2.60729300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.84, Y:9.53, Z:0.26 [[ 9.36549459e-01 -3.50485969e-01 -5.89038227e-03 4.78372803e+01] [ 3.50478950e-01 9.36567982e-01 -2.21823043e-03 9.52573818e+00] [ 6.29420208e-03 1.30275145e-05 9.99980191e-01 2.59585165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:47.86, Y:9.53, Z:0.26 [[ 9.36507051e-01 -3.50599277e-01 -5.88976114e-03 4.78637211e+01] [ 3.50592250e-01 9.36525572e-01 -2.21987839e-03 9.53416374e+00] [ 6.29419968e-03 1.40271583e-05 9.99980191e-01 2.59118633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.191858063999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:47.89, Y:9.54, Z:0.26 [[ 9.36496130e-01 -3.50628460e-01 -5.88912965e-03 4.78902407e+01] [ 3.50621422e-01 9.36514646e-01 -2.22155242e-03 9.54266595e+00] [ 6.29419568e-03 1.56202354e-05 9.99980191e-01 2.58789811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.92, Y:9.55, Z:0.26 [[ 9.36378919e-01 -3.50941370e-01 -5.88850194e-03 4.79172778e+01] [ 3.50934328e-01 9.36397434e-01 -2.22321499e-03 9.55171902e+00] [ 6.29419623e-03 1.52941832e-05 9.99980191e-01 2.58504976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.94, Y:9.56, Z:0.26 [[ 9.36039581e-01 -3.51845472e-01 -5.88787354e-03 4.79444455e+01] [ 3.51838438e-01 9.36058098e-01 -2.22487798e-03 9.55941647e+00] [ 6.29420495e-03 1.09936263e-05 9.99980191e-01 2.57198464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.97, Y:9.57, Z:0.26 [[ 9.35666994e-01 -3.52835112e-01 -5.88724926e-03 4.79716239e+01] [ 3.52828087e-01 9.35685515e-01 -2.22652867e-03 9.56829384e+00] [ 6.29421135e-03 6.10248824e-06 9.99980191e-01 2.56868820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.00, Y:9.58, Z:0.26 [[ 9.35265860e-01 -3.53897045e-01 -5.88662498e-03 4.79981436e+01] [ 3.53890030e-01 9.35284385e-01 -2.22817796e-03 9.57697109e+00] [ 6.29421402e-03 7.20883398e-07 9.99980191e-01 2.56532522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.03, Y:9.58, Z:0.26 [[ 9.34540786e-01 -3.55807356e-01 -5.88599640e-03 4.80251429e+01] [ 3.55800369e-01 9.34559321e-01 -2.22983717e-03 9.58374016e+00] [ 6.29420528e-03 -1.03659078e-05 9.99980191e-01 2.55262916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.371858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.05, Y:9.59, Z:0.25 [[ 9.34091943e-01 -3.56984039e-01 -5.88535862e-03 4.80518122e+01] [ 3.56977065e-01 9.34110484e-01 -2.23151927e-03 9.59193679e+00] [ 6.29419194e-03 -1.64938743e-05 9.99980191e-01 2.54932286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.08, Y:9.60, Z:0.25 [[ 9.33472948e-01 -3.58599534e-01 -5.88472771e-03 4.80787973e+01] [ 3.58592581e-01 9.33491496e-01 -2.23318178e-03 9.60025879e+00] [ 6.29416122e-03 -2.56049223e-05 9.99980191e-01 2.54848337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.11, Y:9.61, Z:0.25 [[ 9.32299478e-01 -3.61639408e-01 -5.88409275e-03 4.81054505e+01] [ 3.61632506e-01 9.32318045e-01 -2.23485355e-03 9.60687331e+00] [ 6.29405696e-03 -4.43264110e-05 9.99980191e-01 2.54071289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:9.62, Z:0.25 [[ 9.31674176e-01 -3.63247314e-01 -5.88381780e-03 4.81323316e+01] [ 3.63240438e-01 9.31692753e-01 -2.23557721e-03 9.61549992e+00] [ 6.29397782e-03 -5.44110023e-05 9.99980191e-01 2.53559571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:9.62, Z:0.25 [[ 9.31029278e-01 -3.64897069e-01 -5.88319650e-03 4.81595406e+01] [ 3.64890217e-01 9.31047864e-01 -2.23721104e-03 9.62411270e+00] [ 6.29388928e-03 -6.38118646e-05 9.99980191e-01 2.53735202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.19, Y:9.63, Z:0.25 [[ 9.30537129e-01 -3.66150307e-01 -5.88257210e-03 4.81863954e+01] [ 3.66143469e-01 9.30555720e-01 -2.23885162e-03 9.63230505e+00] [ 6.29381733e-03 -7.05307947e-05 9.99980191e-01 2.54251171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.21, Y:9.64, Z:0.25 [[ 9.29910403e-01 -3.67739099e-01 -5.88194422e-03 4.82144755e+01] [ 3.67732283e-01 9.29929002e-01 -2.24050001e-03 9.63827256e+00] [ 6.29370997e-03 -7.95165066e-05 9.99980191e-01 2.54378648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.24, Y:9.65, Z:0.25 [[ 9.29726709e-01 -3.68203282e-01 -5.88130773e-03 4.82403885e+01] [ 3.68196464e-01 9.29745308e-01 -2.24216955e-03 9.64667986e+00] [ 6.29369245e-03 -8.08717873e-05 9.99980191e-01 2.54202452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:9.66, Z:0.25 [[ 9.29653207e-01 -3.68388828e-01 -5.88103164e-03 4.82674021e+01] [ 3.68382009e-01 9.29671805e-01 -2.24289347e-03 9.65597365e+00] [ 6.29368620e-03 -8.13531446e-05 9.99980191e-01 2.53729653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:9.67, Z:0.25 [[ 9.29170360e-01 -3.69605009e-01 -5.88040093e-03 4.82942355e+01] [ 3.69598204e-01 9.29188963e-01 -2.24454584e-03 9.66587039e+00] [ 6.29359903e-03 -8.78201508e-05 9.99980191e-01 2.49493250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.32, Y:9.67, Z:0.25 [[ 9.29572798e-01 -3.68591680e-01 -5.88106372e-03 4.83197600e+01] [ 3.68584865e-01 9.29591398e-01 -2.24281000e-03 9.67385915e+00] [ 6.29366735e-03 -8.28159092e-05 9.99980191e-01 2.52247088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.35, Y:9.68, Z:0.25 [[ 9.29786973e-01 -3.68051104e-01 -5.87953016e-03 4.83463103e+01] [ 3.68044254e-01 9.29805560e-01 -2.24682306e-03 9.68188467e+00] [ 6.29376554e-03 -7.48604715e-05 9.99980191e-01 2.53009917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.731858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:9.69, Z:0.25 [[ 9.30597832e-01 -3.65996058e-01 -5.87889819e-03 4.83723819e+01] [ 3.65989156e-01 9.30616399e-01 -2.24847542e-03 9.68828723e+00] [ 6.29393220e-03 -5.91866312e-05 9.99980191e-01 2.54370536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.761858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:9.70, Z:0.26 [[ 9.31126844e-01 -3.64648107e-01 -5.87862402e-03 4.83995962e+01] [ 3.64641173e-01 9.31145400e-01 -2.24919201e-03 9.69783243e+00] [ 6.29401732e-03 -4.93053029e-05 9.99980191e-01 2.55239814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.791858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.43, Y:9.71, Z:0.26 [[ 9.31779388e-01 -3.62977408e-01 -5.87992304e-03 4.84254149e+01] [ 3.62970463e-01 9.31797939e-01 -2.24579816e-03 9.70753772e+00] [ 6.29407417e-03 -4.16499522e-05 9.99980191e-01 2.55034345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.45, Y:9.72, Z:0.26 [[ 9.32334150e-01 -3.61550113e-01 -5.87777500e-03 4.84516841e+01] [ 3.61543104e-01 9.32352678e-01 -2.25140610e-03 9.71741399e+00] [ 6.29415538e-03 -2.60062264e-05 9.99980191e-01 2.55050777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.48, Y:9.73, Z:0.26 [[ 9.33466128e-01 -3.58617409e-01 -5.87718166e-03 4.84767143e+01] [ 3.58610332e-01 9.33484630e-01 -2.25295390e-03 9.72684182e+00] [ 6.29420724e-03 -4.56190796e-06 9.99980191e-01 2.55078863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.50, Y:9.74, Z:0.26 [[ 9.33748220e-01 -3.57882276e-01 -5.87690522e-03 4.85028731e+01] [ 3.57875180e-01 9.33766714e-01 -2.25367478e-03 9.73674954e+00] [ 6.29420874e-03 1.16630002e-06 9.99980191e-01 2.55316608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.53, Y:9.75, Z:0.26 [[ 9.33998478e-01 -3.57228656e-01 -5.87628190e-03 4.85279119e+01] [ 3.57221537e-01 9.34016963e-01 -2.25529887e-03 9.74587529e+00] [ 6.29420436e-03 7.31125431e-06 9.99980191e-01 2.56132215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.941858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:9.76, Z:0.26 [[ 9.34245641e-01 -3.56581764e-01 -5.87601087e-03 4.85545522e+01] [ 3.56574628e-01 9.34264120e-01 -2.25600480e-03 9.75531923e+00] [ 6.29419629e-03 1.24262651e-05 9.99980191e-01 2.57376073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.971858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.58, Y:9.77, Z:0.26 [[ 9.34087702e-01 -3.56995302e-01 -5.87537717e-03 4.85810797e+01] [ 3.56988163e-01 9.34106179e-01 -2.25765396e-03 9.76565566e+00] [ 6.29419798e-03 1.14066917e-05 9.99980191e-01 2.57375709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.61, Y:9.78, Z:0.26 [[ 9.34073256e-01 -3.57033107e-01 -5.87474439e-03 4.86060528e+01] [ 3.57025958e-01 9.34091730e-01 -2.25929933e-03 9.77540078e+00] [ 6.29419482e-03 1.29148375e-05 9.99980191e-01 2.57121503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.63, Y:9.79, Z:0.26 [[ 9.33807950e-01 -3.57726438e-01 -5.87431418e-03 4.86324919e+01] [ 3.57719296e-01 9.33826427e-01 -2.26041736e-03 9.78571264e+00] [ 6.29420087e-03 9.44016975e-06 9.99980191e-01 2.56693022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.66, Y:9.79, Z:0.26 [[ 9.33537981e-01 -3.58430381e-01 -5.87369012e-03 4.86568472e+01] [ 3.58423243e-01 9.33556459e-01 -2.26203781e-03 9.79493865e+00] [ 6.29420443e-03 6.43114493e-06 9.99980191e-01 2.57397151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:9.81, Z:0.26 [[ 9.32814448e-01 -3.60309309e-01 -5.86580780e-03 4.86849985e+01] [ 3.60302080e-01 9.32832890e-01 -2.28248112e-03 9.80588949e+00] [ 6.29421765e-03 1.56686152e-05 9.99980191e-01 2.57192983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:9.82, Z:0.26 [[ 9.32716536e-01 -3.60562585e-01 -5.87248839e-03 4.87116547e+01] [ 3.60555470e-01 9.32735023e-01 -2.26516154e-03 9.81625178e+00] [ 6.29420809e-03 -4.60417929e-06 9.99980191e-01 2.57380958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.74, Y:9.83, Z:0.26 [[ 9.32163945e-01 -3.61988813e-01 -5.87187261e-03 4.87378311e+01] [ 3.61981716e-01 9.32182439e-01 -2.26675666e-03 9.82654901e+00] [ 6.29419709e-03 -1.25216898e-05 9.99980191e-01 2.58082324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:48.76, Y:9.84, Z:0.26 [[ 9.31328950e-01 -3.64131728e-01 -5.87124129e-03 4.87630784e+01] [ 3.64124663e-01 9.31347456e-01 -2.26839071e-03 9.83654493e+00] [ 6.29415867e-03 -2.52458130e-05 9.99980191e-01 2.58179729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.79, Y:9.85, Z:0.26 [[ 9.30819542e-01 -3.65431952e-01 -5.87096785e-03 4.87893572e+01] [ 3.65424909e-01 9.30838056e-01 -2.26909819e-03 9.84691956e+00] [ 6.29412129e-03 -3.32769562e-05 9.99980191e-01 2.58278748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.81, Y:9.86, Z:0.26 [[ 9.30168175e-01 -3.67086781e-01 -5.87034904e-03 4.88144179e+01] [ 3.67079760e-01 9.30186698e-01 -2.27069797e-03 9.85700375e+00] [ 6.29406380e-03 -4.27553292e-05 9.99980191e-01 2.57789266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.84, Y:9.87, Z:0.26 [[ 9.29475024e-01 -3.68838341e-01 -5.87008084e-03 4.88438395e+01] [ 3.68831351e-01 9.29493559e-01 -2.27139110e-03 9.86694448e+00] [ 6.29397846e-03 -5.38685465e-05 9.99980191e-01 2.57141253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301858063999994 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:48.87, Y:9.88, Z:0.26 [[ 9.27896231e-01 -3.72792112e-01 -5.88433814e-03 4.88660301e+01] [ 3.72785434e-01 9.27914881e-01 -2.23454063e-03 9.87775134e+00] [ 6.29318404e-03 -1.20173720e-04 9.99980191e-01 2.58837098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.89, Y:9.89, Z:0.26 [[ 9.27156292e-01 -3.74628833e-01 -5.86922746e-03 4.88912311e+01] [ 3.74621945e-01 9.27174865e-01 -2.27354926e-03 9.88831120e+00] [ 6.29353728e-03 -9.08059055e-05 9.99980191e-01 2.58204473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.92, Y:9.90, Z:0.26 [[ 9.26578157e-01 -3.76056478e-01 -5.86895097e-03 4.89168823e+01] [ 3.76049614e-01 9.26596738e-01 -2.27426276e-03 9.89897117e+00] [ 6.29340207e-03 -9.97345438e-05 9.99980191e-01 2.58875189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:9.91, Z:0.26 [[ 9.25988951e-01 -3.77505000e-01 -5.86832444e-03 4.89430513e+01] [ 3.77498155e-01 9.26007540e-01 -2.27587826e-03 9.90996531e+00] [ 6.29326810e-03 -1.07843528e-04 9.99980191e-01 2.59014598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.97, Y:9.92, Z:0.26 [[ 9.25145980e-01 -3.79566182e-01 -5.86769332e-03 4.89682224e+01] [ 3.79559368e-01 9.25164579e-01 -2.27750426e-03 9.92159430e+00] [ 6.29304562e-03 -1.20114056e-04 9.99980191e-01 2.60521577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.99, Y:9.93, Z:0.26 [[ 9.24680455e-01 -3.80698875e-01 -5.86705800e-03 4.89939811e+01] [ 3.80692074e-01 9.24699059e-01 -2.27913972e-03 9.93248597e+00] [ 6.29292894e-03 -1.26066523e-04 9.99980191e-01 2.61455277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.481858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.02, Y:9.94, Z:0.26 [[ 9.24469378e-01 -3.81211167e-01 -5.86641898e-03 4.90190758e+01] [ 3.81204365e-01 9.24487983e-01 -2.28078335e-03 9.94319054e+00] [ 6.29289393e-03 -1.27790154e-04 9.99980191e-01 2.61697299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.511858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:9.96, Z:0.26 [[ 9.23881274e-01 -3.82634264e-01 -5.86614150e-03 4.90443060e+01] [ 3.82627487e-01 9.23899887e-01 -2.28149681e-03 9.95676707e+00] [ 6.29270632e-03 -1.36714797e-04 9.99980191e-01 2.58523810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:9.97, Z:0.26 [[ 9.24086208e-01 -3.82139089e-01 -5.86489510e-03 4.90706611e+01] [ 3.82132281e-01 9.24104810e-01 -2.28469912e-03 9.96868844e+00] [ 6.29285061e-03 -1.29906799e-04 9.99980191e-01 2.58330896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:9.98, Z:0.26 [[ 9.24863531e-01 -3.80253901e-01 -5.86693010e-03 4.90954656e+01] [ 3.80247088e-01 9.24882131e-01 -2.27947371e-03 9.97930683e+00] [ 6.29299758e-03 -1.22680980e-04 9.99980191e-01 2.60785775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.12, Y:9.99, Z:0.26 [[ 9.25167270e-01 -3.79514333e-01 -5.86455915e-03 4.91211665e+01] [ 3.79507467e-01 9.25185851e-01 -2.28555736e-03 9.99051483e+00] [ 6.29320893e-03 -1.11121124e-04 9.99980191e-01 2.60727519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:10.00, Z:0.26 [[ 9.25726757e-01 -3.78147573e-01 -5.86392197e-03 4.91452027e+01] [ 3.78140669e-01 9.25745323e-01 -2.28719097e-03 1.00029042e+01] [ 6.29339406e-03 -1.00073498e-04 9.99980191e-01 2.60003770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.17, Y:10.01, Z:0.26 [[ 9.25909578e-01 -3.77699711e-01 -5.86348957e-03 4.91697264e+01] [ 3.77692792e-01 9.25928139e-01 -2.28829895e-03 1.00137620e+01] [ 6.29345984e-03 -9.58398328e-05 9.99980191e-01 2.59862954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.20, Y:10.03, Z:0.26 [[ 9.25864563e-01 -3.77810049e-01 -5.86321697e-03 4.91959396e+01] [ 3.77803127e-01 9.25883123e-01 -2.28899722e-03 1.00252120e+01] [ 6.29345979e-03 -9.58402925e-05 9.99980191e-01 2.60681243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721858063999996 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:49.22, Y:10.04, Z:0.26 [[ 9.24736288e-01 -3.80563304e-01 -5.86255991e-03 4.92176347e+01] [ 3.80556427e-01 9.24754864e-01 -2.29067884e-03 1.00385384e+01] [ 6.29317910e-03 -1.12761003e-04 9.99980191e-01 2.55455598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.25, Y:10.05, Z:0.26 [[ 9.24945424e-01 -3.80054961e-01 -5.84718205e-03 4.92480963e+01] [ 3.80047824e-01 9.24963903e-01 -2.32996411e-03 1.00510271e+01] [ 6.29394675e-03 -6.71191708e-05 9.99980191e-01 2.57049258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.27, Y:10.06, Z:0.26 [[ 9.25557301e-01 -3.78561983e-01 -5.87427717e-03 4.92731291e+01] [ 3.78555256e-01 9.25575933e-01 -2.26071546e-03 1.00613387e+01] [ 6.29291050e-03 -1.31316797e-04 9.99980191e-01 2.61933380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:49.30, Y:10.07, Z:0.26 [[ 9.24751791e-01 -3.80525661e-01 -5.86051772e-03 4.92993164e+01] [ 3.80518750e-01 9.24770355e-01 -2.29583880e-03 1.00728183e+01] [ 6.29325863e-03 -1.06955834e-04 9.99980192e-01 2.59069164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:49.32, Y:10.08, Z:0.26 [[ 9.24391152e-01 -3.81400875e-01 -5.86267508e-03 4.93245884e+01] [ 3.81394017e-01 9.24409735e-01 -2.29033421e-03 1.00831144e+01] [ 6.29304939e-03 -1.18824517e-04 9.99980192e-01 2.64748595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.35, Y:10.09, Z:0.27 [[ 9.23990996e-01 -3.82369328e-01 -5.85968182e-03 4.93502737e+01] [ 3.82362440e-01 9.24009569e-01 -2.29796686e-03 1.00946919e+01] [ 6.29307412e-03 -1.17221549e-04 9.99980192e-01 2.65300680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.38, Y:10.11, Z:0.27 [[ 9.23678767e-01 -3.83122967e-01 -5.85903666e-03 4.93752335e+01] [ 3.83116084e-01 9.23697341e-01 -2.29961062e-03 1.01062865e+01] [ 6.29301023e-03 -1.20589679e-04 9.99980192e-01 2.65112454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.931858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.40, Y:10.12, Z:0.27 [[ 9.23365480e-01 -3.83877408e-01 -5.85875788e-03 4.93993754e+01] [ 3.83870536e-01 9.23384059e-01 -2.30032065e-03 1.01174623e+01] [ 6.29292476e-03 -1.24967852e-04 9.99980192e-01 2.65004060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.42, Y:10.13, Z:0.26 [[ 9.22631861e-01 -3.85637299e-01 -5.85848144e-03 4.94245202e+01] [ 3.85630459e-01 9.22650451e-01 -2.30102448e-03 1.01303578e+01] [ 6.29269141e-03 -1.36210388e-04 9.99980192e-01 2.64221074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.45, Y:10.14, Z:0.26 [[ 9.22256101e-01 -3.86535082e-01 -5.85783495e-03 4.94490633e+01] [ 3.86528248e-01 9.22274694e-01 -2.30266911e-03 1.01413565e+01] [ 6.29259533e-03 -1.40568043e-04 9.99980192e-01 2.63739063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.47, Y:10.16, Z:0.26 [[ 9.19978671e-01 -3.91924654e-01 -5.85755469e-03 4.94694134e+01] [ 3.91917926e-01 9.19997301e-01 -2.30338182e-03 1.01567653e+01] [ 6.29168663e-03 -1.76618538e-04 9.99980192e-01 2.58223507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.051858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.50, Y:10.17, Z:0.26 [[ 9.20179851e-01 -3.91452439e-01 -5.83351649e-03 4.94982887e+01] [ 3.91445313e-01 9.20198335e-01 -2.36444998e-03 1.01671070e+01] [ 6.29356188e-03 -1.07783459e-04 9.99980190e-01 2.59893546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081858063999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.53, Y:10.18, Z:0.26 [[ 9.20859072e-01 -3.89851732e-01 -5.84774835e-03 4.95265468e+01] [ 3.89844803e-01 9.20877630e-01 -2.32828871e-03 1.01763341e+01] [ 6.29274803e-03 -1.35688519e-04 9.99980191e-01 2.64232287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.55, Y:10.19, Z:0.26 [[ 9.20480881e-01 -3.90743707e-01 -5.85696201e-03 4.95518350e+01] [ 3.90736945e-01 9.20499499e-01 -2.30487573e-03 1.01879296e+01] [ 6.29194628e-03 -1.66937400e-04 9.99980192e-01 2.64086009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.58, Y:10.20, Z:0.26 [[ 9.19852788e-01 -3.92220031e-01 -5.85632751e-03 4.95764458e+01] [ 3.92213288e-01 9.19871413e-01 -2.30648675e-03 1.02013829e+01] [ 6.29171857e-03 -1.75301201e-04 9.99980192e-01 2.64392951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.60, Y:10.21, Z:0.26 [[ 9.19415358e-01 -3.93244360e-01 -5.85427078e-03 4.96012888e+01] [ 3.93237605e-01 9.19433979e-01 -2.31170576e-03 1.02132317e+01] [ 6.29168073e-03 -1.76701643e-04 9.99980192e-01 2.62982245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.63, Y:10.22, Z:0.26 [[ 9.19037091e-01 -3.94127567e-01 -5.85550071e-03 4.96264429e+01] [ 3.94120850e-01 9.19055725e-01 -2.30858618e-03 1.02248742e+01] [ 6.29140890e-03 -1.86098589e-04 9.99980192e-01 2.62748377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.231858063999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:49.65, Y:10.24, Z:0.26 [[ 9.18511306e-01 -3.95351365e-01 -5.85485122e-03 4.96525173e+01] [ 3.95344662e-01 9.18529946e-01 -2.31023218e-03 1.02366787e+01] [ 6.29120962e-03 -1.92709794e-04 9.99980192e-01 2.62617454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261858063999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.68, Y:10.25, Z:0.26 [[ 9.17947637e-01 -3.96658371e-01 -5.85423312e-03 4.96769180e+01] [ 3.96651685e-01 9.17966283e-01 -2.31179741e-03 1.02490536e+01] [ 6.29098241e-03 -1.99982463e-04 9.99980192e-01 2.62526495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.291858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.70, Y:10.26, Z:0.26 [[ 9.17639125e-01 -3.97371575e-01 -5.85378538e-03 4.97018487e+01] [ 3.97364896e-01 9.17657774e-01 -2.31293059e-03 1.02611772e+01] [ 6.29086454e-03 -2.03653215e-04 9.99980192e-01 2.62890947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.73, Y:10.27, Z:0.26 [[ 9.17377137e-01 -3.97976041e-01 -5.85314058e-03 4.97276871e+01] [ 3.97969364e-01 9.17395786e-01 -2.31456119e-03 1.02739250e+01] [ 6.29078640e-03 -2.06045109e-04 9.99980192e-01 2.63533177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.75, Y:10.29, Z:0.26 [[ 9.17347824e-01 -3.98043585e-01 -5.85445029e-03 4.97517628e+01] [ 3.98036930e-01 9.17366481e-01 -2.31125025e-03 1.02858372e+01] [ 6.29065480e-03 -2.10067041e-04 9.99980192e-01 2.63350148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.78, Y:10.30, Z:0.26 [[ 9.17300676e-01 -3.98152257e-01 -5.85229715e-03 4.97765640e+01] [ 3.98145570e-01 9.17319322e-01 -2.31668939e-03 1.02991330e+01] [ 6.29082037e-03 -2.04965440e-04 9.99980192e-01 2.63626932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.80, Y:10.31, Z:0.26 [[ 9.17396239e-01 -3.97932027e-01 -5.85166395e-03 4.98018633e+01] [ 3.97925325e-01 9.17414879e-01 -2.31828769e-03 1.03106253e+01] [ 6.29092449e-03 -2.01736871e-04 9.99980192e-01 2.64265210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.83, Y:10.32, Z:0.26 [[ 9.17641523e-01 -3.97366080e-01 -5.85102477e-03 4.98261596e+01] [ 3.97359356e-01 9.17660155e-01 -2.31989976e-03 1.03221416e+01] [ 6.29110177e-03 -1.96123085e-04 9.99980192e-01 2.64611930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.85, Y:10.34, Z:0.26 [[ 9.18498772e-01 -3.95380544e-01 -5.85074743e-03 4.98503143e+01] [ 3.95373776e-01 9.18517388e-01 -2.32059900e-03 1.03370069e+01] [ 6.29153294e-03 -1.81764775e-04 9.99980192e-01 2.64364657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:10.35, Z:0.26 [[ 9.19061247e-01 -3.94071314e-01 -5.85011331e-03 4.98745516e+01] [ 3.94064509e-01 9.19079850e-01 -2.32219649e-03 1.03492264e+01] [ 6.29183228e-03 -1.71081223e-04 9.99980192e-01 2.64126934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.90, Y:10.36, Z:0.26 [[ 9.19553375e-01 -3.92921583e-01 -5.84983831e-03 4.98993973e+01] [ 3.92914750e-01 9.19571967e-01 -2.32288901e-03 1.03614609e+01] [ 6.29206056e-03 -1.62467327e-04 9.99980192e-01 2.63509059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.92, Y:10.38, Z:0.26 [[ 9.20567968e-01 -3.90538606e-01 -5.84919970e-03 4.99245336e+01] [ 3.90531715e-01 9.20586539e-01 -2.32449597e-03 1.03750860e+01] [ 6.29249993e-03 -1.44441459e-04 9.99980192e-01 2.63349795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.95, Y:10.39, Z:0.26 [[ 9.20884811e-01 -3.89790919e-01 -5.84854519e-03 4.99501541e+01] [ 3.89784002e-01 9.20903372e-01 -2.32614160e-03 1.03871545e+01] [ 6.29265386e-03 -1.37560883e-04 9.99980192e-01 2.63669213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.98, Y:10.40, Z:0.26 [[ 9.21053553e-01 -3.89392033e-01 -5.84789180e-03 4.99755890e+01] [ 3.89385098e-01 9.21072107e-01 -2.32778304e-03 1.03991003e+01] [ 6.29275020e-03 -1.33069084e-04 9.99980192e-01 2.64161581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.651858063999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.00, Y:10.41, Z:0.26 [[ 9.21259190e-01 -3.88905276e-01 -5.84724404e-03 4.99999925e+01] [ 3.88898321e-01 9.21277737e-01 -2.32940905e-03 1.04103990e+01] [ 6.29285523e-03 -1.27993900e-04 9.99980192e-01 2.64798459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.03, Y:10.42, Z:0.27 [[ 9.21240771e-01 -3.88948911e-01 -5.84696314e-03 5.00255230e+01] [ 3.88941952e-01 9.21259316e-01 -2.33011391e-03 1.04232975e+01] [ 6.29286453e-03 -1.27533325e-04 9.99980192e-01 2.65937662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.05, Y:10.44, Z:0.27 [[ 9.21054165e-01 -3.89390609e-01 -5.84632438e-03 5.00512402e+01] [ 3.89383649e-01 9.21072710e-01 -2.33171549e-03 1.04351775e+01] [ 6.29283795e-03 -1.28826857e-04 9.99980192e-01 2.66267759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.08, Y:10.45, Z:0.27 [[ 9.20979877e-01 -3.89566290e-01 -5.84567583e-03 5.00764239e+01] [ 3.89559323e-01 9.20998420e-01 -2.33334026e-03 1.04469462e+01] [ 6.29284892e-03 -1.28278093e-04 9.99980192e-01 2.66832648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.10, Y:10.46, Z:0.27 [[ 9.21033969e-01 -3.89438394e-01 -5.84502707e-03 5.01007888e+01] [ 3.89431414e-01 9.21052507e-01 -2.33496429e-03 1.04580661e+01] [ 6.29290158e-03 -1.25655734e-04 9.99980192e-01 2.67329131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:10.47, Z:0.27 [[ 9.21341932e-01 -3.88709256e-01 -5.84458617e-03 5.01246576e+01] [ 3.88702254e-01 9.21360462e-01 -2.33606738e-03 1.04706025e+01] [ 6.29302162e-03 -1.19486991e-04 9.99980192e-01 2.67947677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.831858063999995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:50.15, Y:10.48, Z:0.27 [[ 9.21467762e-01 -3.88410875e-01 -5.84431480e-03 5.01505442e+01] [ 3.88403863e-01 9.21486288e-01 -2.33674609e-03 1.04823897e+01] [ 6.29307354e-03 -1.16718253e-04 9.99980192e-01 2.67495719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861858063999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.17, Y:10.49, Z:0.27 [[ 9.21584727e-01 -3.88133280e-01 -5.84367254e-03 5.01748750e+01] [ 3.88126253e-01 9.21603247e-01 -2.33835114e-03 1.04937645e+01] [ 6.29313948e-03 -1.13094028e-04 9.99980192e-01 2.67662571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.891858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.20, Y:10.51, Z:0.27 [[ 9.21942514e-01 -3.87282659e-01 -5.84323620e-03 5.01998550e+01] [ 3.87275608e-01 9.21961024e-01 -2.33944099e-03 1.05066375e+01] [ 6.29326096e-03 -1.06112747e-04 9.99980192e-01 2.66203490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92185806399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.22, Y:10.52, Z:0.27 [[ 9.22319891e-01 -3.86383079e-01 -5.84257481e-03 5.02243150e+01] [ 3.86375999e-01 9.22338391e-01 -2.34109159e-03 1.05176280e+01] [ 6.29338922e-03 -9.81953373e-05 9.99980192e-01 2.66341507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95185806399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.25, Y:10.53, Z:0.27 [[ 9.22658451e-01 -3.85573923e-01 -5.84228809e-03 5.02486562e+01] [ 3.85566822e-01 9.22676943e-01 -2.34180690e-03 1.05287526e+01] [ 6.29348418e-03 -9.19045283e-05 9.99980192e-01 2.66572301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.27, Y:10.54, Z:0.27 [[ 9.22995135e-01 -3.84767270e-01 -5.84201399e-03 5.02740610e+01] [ 3.84760149e-01 9.23013619e-01 -2.34249048e-03 1.05403389e+01] [ 6.29357214e-03 -8.56668598e-05 9.99980192e-01 2.65326944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.011858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.30, Y:10.55, Z:0.27 [[ 9.22885659e-01 -3.85029789e-01 -5.84134831e-03 5.03005586e+01] [ 3.85022663e-01 9.22904141e-01 -2.34414928e-03 1.05510415e+01] [ 6.29357185e-03 -8.56697284e-05 9.99980192e-01 2.65506223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.33, Y:10.56, Z:0.27 [[ 9.23479120e-01 -3.83604226e-01 -5.84068109e-03 5.03259600e+01] [ 3.83597060e-01 9.23497587e-01 -2.34581055e-03 1.05628162e+01] [ 6.29371773e-03 -7.41610317e-05 9.99980192e-01 2.65086812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.071858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.35, Y:10.57, Z:0.27 [[ 9.23604824e-01 -3.83301478e-01 -5.84001717e-03 5.03517890e+01] [ 3.83294296e-01 9.23623285e-01 -2.34746225e-03 1.05735060e+01] [ 6.29376159e-03 -7.03178064e-05 9.99980192e-01 2.65269695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.38, Y:10.58, Z:0.27 [[ 9.23802832e-01 -3.82824019e-01 -5.83935318e-03 5.03768548e+01] [ 3.82816817e-01 9.23821285e-01 -2.34911276e-03 1.05835599e+01] [ 6.29381555e-03 -6.52855736e-05 9.99980192e-01 2.65426072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.40, Y:10.59, Z:0.27 [[ 9.24046268e-01 -3.82236052e-01 -5.83906560e-03 5.04024226e+01] [ 3.82228834e-01 9.24064715e-01 -2.34982738e-03 1.05936094e+01] [ 6.29386323e-03 -6.05100133e-05 9.99980192e-01 2.66451536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16185806399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.43, Y:10.60, Z:0.27 [[ 9.24243202e-01 -3.81759627e-01 -5.83878221e-03 5.04291673e+01] [ 3.81752394e-01 9.24261643e-01 -2.35053133e-03 1.06036255e+01] [ 6.29390040e-03 -5.65064907e-05 9.99980192e-01 2.65152671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.191858063999994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:50.46, Y:10.61, Z:0.26 [[ 9.24317613e-01 -3.81579437e-01 -5.83812430e-03 5.04556743e+01] [ 3.81572191e-01 9.24336048e-01 -2.35216426e-03 1.06139620e+01] [ 6.29392626e-03 -5.35190264e-05 9.99980192e-01 2.64625064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.221858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:10.62, Z:0.26 [[ 9.24790889e-01 -3.80430986e-01 -5.83745842e-03 5.04806895e+01] [ 3.80423706e-01 9.24809312e-01 -2.35381565e-03 1.06235120e+01] [ 6.29400031e-03 -4.39203012e-05 9.99980192e-01 2.64362843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.251858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.51, Y:10.63, Z:0.26 [[ 9.24918249e-01 -3.80121244e-01 -5.83716999e-03 5.05065184e+01] [ 3.80113954e-01 9.24936667e-01 -2.35453069e-03 1.06340467e+01] [ 6.29401970e-03 -4.10413648e-05 9.99980192e-01 2.64155111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.53, Y:10.64, Z:0.27 [[ 9.25226120e-01 -3.79371273e-01 -5.83649816e-03 5.05327764e+01] [ 3.79363958e-01 9.25244528e-01 -2.35619488e-03 1.06444855e+01] [ 6.29406064e-03 -3.41439918e-05 9.99980192e-01 2.65236471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:10.65, Z:0.27 [[ 9.25577224e-01 -3.78513864e-01 -5.83583338e-03 5.05602344e+01] [ 3.78506521e-01 9.25595621e-01 -2.35784081e-03 1.06547673e+01] [ 6.29409725e-03 -2.65372390e-05 9.99980192e-01 2.65161875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.59, Y:10.66, Z:0.27 [[ 9.25791860e-01 -3.77988586e-01 -5.83621914e-03 5.05871979e+01] [ 3.77981238e-01 9.25810255e-01 -2.35688598e-03 1.06646400e+01] [ 6.29410753e-03 -2.39954832e-05 9.99980192e-01 2.65766189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.371858063999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:50.61, Y:10.67, Z:0.26 [[ 9.26406634e-01 -3.76479323e-01 -5.83686001e-03 5.06126983e+01] [ 3.76471955e-01 9.26425021e-01 -2.35530021e-03 1.06725707e+01] [ 6.29413499e-03 -1.54483619e-05 9.99980192e-01 2.64407679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.64, Y:10.68, Z:0.27 [[ 9.26531920e-01 -3.76170910e-01 -5.83501429e-03 5.06385807e+01] [ 3.76163508e-01 9.26550293e-01 -2.35986395e-03 1.06824685e+01] [ 6.29414637e-03 -8.43016325e-06 9.99980192e-01 2.65057942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.66, Y:10.69, Z:0.26 [[ 9.26743665e-01 -3.75648958e-01 -5.83435792e-03 5.06646112e+01] [ 3.75641535e-01 9.26762030e-01 -2.36148559e-03 1.06921641e+01] [ 6.29415099e-03 -3.13536181e-06 9.99980192e-01 2.64606138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.69, Y:10.70, Z:0.26 [[ 9.26777727e-01 -3.75564924e-01 -5.83370497e-03 5.06908383e+01] [ 3.75557490e-01 9.26796087e-01 -2.36309752e-03 1.07021441e+01] [ 6.29415148e-03 -8.25449067e-07 9.99980192e-01 2.63452496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49185806399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.72, Y:10.71, Z:0.26 [[ 9.26879729e-01 -3.75313127e-01 -5.83303069e-03 5.07174573e+01] [ 3.75305677e-01 9.26898083e-01 -2.36476072e-03 1.07101840e+01] [ 6.29415071e-03 2.67924244e-06 9.99980192e-01 2.62738625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.74, Y:10.72, Z:0.26 [[ 9.26532847e-01 -3.76168661e-01 -5.83282189e-03 5.07441043e+01] [ 3.76161224e-01 9.26551207e-01 -2.36527562e-03 1.07198278e+01] [ 6.29415073e-03 -2.57587209e-06 9.99980192e-01 2.61986509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.551858063999994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:50.77, Y:10.73, Z:0.26 [[ 9.26833214e-01 -3.75428024e-01 -5.83021564e-03 5.07712111e+01] [ 3.75420533e-01 9.26851552e-01 -2.37169885e-03 1.07267177e+01] [ 6.29414663e-03 9.38660299e-06 9.99980192e-01 2.63317828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.80, Y:10.74, Z:0.26 [[ 9.26680660e-01 -3.75804394e-01 -5.83192663e-03 5.07980386e+01] [ 3.75796937e-01 9.26699011e-01 -2.36748410e-03 1.07363670e+01] [ 6.29415157e-03 2.28156790e-06 9.99980192e-01 2.62847035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.82, Y:10.75, Z:0.26 [[ 9.26505286e-01 -3.76236563e-01 -5.83127218e-03 5.08244457e+01] [ 3.76229104e-01 9.26523636e-01 -2.36909497e-03 1.07455801e+01] [ 6.29415165e-03 1.08470706e-06 9.99980192e-01 2.62286356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:50.85, Y:10.75, Z:0.26 [[ 9.26615556e-01 -3.75964880e-01 -5.83271473e-03 5.08507385e+01] [ 3.75957438e-01 9.26633913e-01 -2.36554584e-03 1.07544041e+01] [ 6.29415343e-03 -9.00909768e-07 9.99980192e-01 2.61538536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.88, Y:10.76, Z:0.26 [[ 9.25831439e-01 -3.77891775e-01 -5.82685415e-03 5.08786431e+01] [ 3.77884280e-01 9.25849775e-01 -2.37995748e-03 1.07615540e+01] [ 6.29415796e-03 1.56287193e-06 9.99980192e-01 2.60236562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.91, Y:10.77, Z:0.26 [[ 9.25022606e-01 -3.79867345e-01 -5.82912654e-03 5.09059372e+01] [ 3.79859925e-01 9.25040972e-01 -2.37437191e-03 1.07706208e+01] [ 6.29412723e-03 -1.79038767e-05 9.99980192e-01 2.59451747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.731858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.93, Y:10.78, Z:0.26 [[ 9.24443041e-01 -3.81275555e-01 -5.83222311e-03 5.09320066e+01] [ 3.81268210e-01 9.24461438e-01 -2.36676523e-03 1.07794565e+01] [ 6.29405508e-03 -3.57016148e-05 9.99980192e-01 2.59467153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761858063999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.96, Y:10.79, Z:0.26 [[ 9.23746197e-01 -3.82960814e-01 -5.82918661e-03 5.09595171e+01] [ 3.82953456e-01 9.23764588e-01 -2.37422043e-03 1.07886014e+01] [ 6.29402956e-03 -3.91300686e-05 9.99980192e-01 2.59831594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.791858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.98, Y:10.80, Z:0.26 [[ 9.21370184e-01 -3.88642479e-01 -5.83164686e-03 5.09844017e+01] [ 3.88635273e-01 9.21388635e-01 -2.36818337e-03 1.07992580e+01] [ 6.29358980e-03 -8.44101185e-05 9.99980192e-01 2.58153975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.821858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:51.01, Y:10.81, Z:0.26 [[ 9.21677158e-01 -3.87913970e-01 -5.82823336e-03 5.10109230e+01] [ 3.87906696e-01 9.21695583e-01 -2.37655461e-03 1.08062708e+01] [ 6.29375568e-03 -7.03946466e-05 9.99980192e-01 2.58969704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.851858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:51.04, Y:10.82, Z:0.26 [[ 9.21018493e-01 -3.89475250e-01 -5.82793085e-03 5.10366143e+01] [ 3.89468003e-01 9.21036928e-01 -2.37729621e-03 1.08152957e+01] [ 6.29363756e-03 -8.02588108e-05 9.99980192e-01 2.59111797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.06, Y:10.82, Z:0.26 [[ 9.19791376e-01 -3.92364453e-01 -5.82764739e-03 5.10634178e+01] [ 3.92357259e-01 9.19809832e-01 -2.37799087e-03 1.08230561e+01] [ 6.29336645e-03 -9.92642592e-05 9.99980192e-01 2.58314360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91185806399999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:51.09, Y:10.83, Z:0.26 [[ 9.19049560e-01 -3.94098919e-01 -5.82655126e-03 5.10899138e+01] [ 3.94091743e-01 9.19068023e-01 -2.38067512e-03 1.08329962e+01] [ 6.29321844e-03 -1.08237326e-04 9.99980192e-01 2.58358396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.941858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.12, Y:10.84, Z:0.26 [[ 9.18434808e-01 -3.95529464e-01 -5.82632431e-03 5.11161748e+01] [ 3.95522314e-01 9.18453281e-01 -2.38123042e-03 1.08432537e+01] [ 6.29305347e-03 -1.17436368e-04 9.99980192e-01 2.57925379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.971858063999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:51.14, Y:10.85, Z:0.26 [[ 9.17825376e-01 -3.96941608e-01 -5.82566724e-03 5.11418279e+01] [ 3.96934475e-01 9.17843856e-01 -2.38283684e-03 1.08535029e+01] [ 6.29289998e-03 -1.25380048e-04 9.99980192e-01 2.57517747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.001858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.17, Y:10.86, Z:0.26 [[ 9.17323890e-01 -3.98099171e-01 -5.82501341e-03 5.11688757e+01] [ 3.98092051e-01 9.17342375e-01 -2.38443411e-03 1.08621516e+01] [ 6.29277288e-03 -1.31593160e-04 9.99980192e-01 2.58959056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.031858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:51.19, Y:10.87, Z:0.26 [[ 9.16489605e-01 -4.00016106e-01 -5.82400206e-03 5.11937267e+01] [ 4.00009010e-01 9.16508099e-01 -2.38690295e-03 1.08727762e+01] [ 6.29254468e-03 -1.42081557e-04 9.99980192e-01 2.58544652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.22, Y:10.88, Z:0.26 [[ 9.16888246e-01 -3.99101706e-01 -5.81144050e-03 5.12216592e+01] [ 3.99094397e-01 9.16906657e-01 -2.41753841e-03 1.08822980e+01] [ 6.29339219e-03 -1.02700796e-04 9.99980191e-01 2.57613714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.25, Y:10.89, Z:0.26 [[ 9.17225098e-01 -3.98326754e-01 -5.82373516e-03 5.12504749e+01] [ 3.98319620e-01 9.17243577e-01 -2.38754917e-03 1.08913784e+01] [ 6.29280838e-03 -1.29787956e-04 9.99980192e-01 2.59600166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.121858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:10.90, Z:0.26 [[ 9.17376330e-01 -3.97978245e-01 -5.82973980e-03 5.12756270e+01] [ 3.97971197e-01 9.17394842e-01 -2.37290585e-03 1.09037735e+01] [ 6.29253813e-03 -1.43220870e-04 9.99980192e-01 2.57756856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.30, Y:10.91, Z:0.26 [[ 9.17877722e-01 -3.96820588e-01 -5.82304174e-03 5.13016180e+01] [ 3.96813412e-01 9.17896186e-01 -2.38923040e-03 1.09145482e+01] [ 6.29304361e-03 -1.17639704e-04 9.99980192e-01 2.57476271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.33, Y:10.93, Z:0.26 [[ 9.18373458e-01 -3.95671948e-01 -5.82239073e-03 5.13272878e+01] [ 3.95664740e-01 9.18391909e-01 -2.39081581e-03 1.09254356e+01] [ 6.29321528e-03 -1.08052927e-04 9.99980192e-01 2.57932336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.35, Y:10.94, Z:0.26 [[ 9.19437929e-01 -3.93192068e-01 -5.82174151e-03 5.13519532e+01] [ 3.93184800e-01 9.19456355e-01 -2.39239564e-03 1.09356757e+01] [ 6.29350822e-03 -8.93609837e-05 9.99980192e-01 2.58968818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.38, Y:10.95, Z:0.26 [[ 9.20427642e-01 -3.90869627e-01 -5.82145945e-03 5.13808606e+01] [ 3.90862308e-01 9.20446049e-01 -2.39308180e-03 1.09454529e+01] [ 6.29372234e-03 -7.27304355e-05 9.99980192e-01 2.61887433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.41, Y:10.96, Z:0.26 [[ 9.20034516e-01 -3.91793949e-01 -5.83020320e-03 5.14054285e+01] [ 3.91786783e-01 9.20052983e-01 -2.37181186e-03 1.09572670e+01] [ 6.29335738e-03 -1.02047780e-04 9.99980191e-01 2.59858038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:10.97, Z:0.26 [[ 9.21034769e-01 -3.89436869e-01 -5.82063796e-03 5.14334992e+01] [ 3.89429509e-01 9.21053159e-01 -2.39505797e-03 1.09665938e+01] [ 6.29384086e-03 -6.07965241e-05 9.99980192e-01 2.63214100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.46, Y:10.98, Z:0.26 [[ 9.20935223e-01 -3.89672087e-01 -5.82915145e-03 5.14588409e+01] [ 3.89664862e-01 9.20953667e-01 -2.37436950e-03 1.09770306e+01] [ 6.29360392e-03 -8.47749870e-05 9.99980191e-01 2.63341245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:10.99, Z:0.26 [[ 9.20832389e-01 -3.89915063e-01 -5.82714793e-03 5.14841484e+01] [ 3.89907813e-01 9.20850822e-01 -2.37923432e-03 1.09881497e+01] [ 6.29363327e-03 -8.11744784e-05 9.99980192e-01 2.63159553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.391858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:51.51, Y:11.00, Z:0.26 [[ 9.20867414e-01 -3.89832438e-01 -5.82028018e-03 5.15101542e+01] [ 3.89825081e-01 9.20885805e-01 -2.39589882e-03 1.09984878e+01] [ 6.29381248e-03 -6.25860456e-05 9.99980192e-01 2.62721881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.54, Y:11.01, Z:0.26 [[ 9.20744976e-01 -3.90121511e-01 -5.82208788e-03 5.15373793e+01] [ 3.90114187e-01 9.20763380e-01 -2.39151554e-03 1.10085703e+01] [ 6.29374698e-03 -6.93031605e-05 9.99980192e-01 2.62894336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.56, Y:11.02, Z:0.26 [[ 9.20367909e-01 -3.91010245e-01 -5.82240163e-03 5.15643804e+01] [ 3.91002944e-01 9.20386322e-01 -2.39075506e-03 1.10192484e+01] [ 6.29366854e-03 -7.62019400e-05 9.99980192e-01 2.62712570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.59, Y:11.03, Z:0.26 [[ 9.20132645e-01 -3.91563585e-01 -5.82020660e-03 5.15897792e+01] [ 3.91556261e-01 9.20151049e-01 -2.39607261e-03 1.10286686e+01] [ 6.29368399e-03 -7.42337051e-05 9.99980192e-01 2.62599795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.511858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.62, Y:11.04, Z:0.26 [[ 9.19779827e-01 -3.92391651e-01 -5.81911902e-03 5.16164225e+01] [ 3.92384327e-01 9.19798231e-01 -2.39870502e-03 1.10392578e+01] [ 6.29364720e-03 -7.70506086e-05 9.99980192e-01 2.62073640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.64, Y:11.05, Z:0.26 [[ 9.18501548e-01 -3.95374567e-01 -5.81877097e-03 5.16397913e+01] [ 3.95367297e-01 9.18519974e-01 -2.39954678e-03 1.10507079e+01] [ 6.29337713e-03 -9.65643202e-05 9.99980192e-01 2.59398735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.571858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.67, Y:11.06, Z:0.26 [[ 9.18577642e-01 -3.95197987e-01 -5.80225865e-03 5.16661087e+01] [ 3.95190461e-01 9.18595966e-01 -2.43945303e-03 1.10597772e+01] [ 6.29399832e-03 -5.21702594e-05 9.99980191e-01 2.59547984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:51.69, Y:11.07, Z:0.26 [[ 9.18646315e-01 -3.95038349e-01 -5.80087485e-03 5.16932298e+01] [ 3.95030799e-01 9.18664629e-01 -2.44279565e-03 1.10692568e+01] [ 6.29405650e-03 -4.74590079e-05 9.99980191e-01 2.59709819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.72, Y:11.08, Z:0.26 [[ 9.18792465e-01 -3.94698287e-01 -5.80245208e-03 5.17205027e+01] [ 3.94690754e-01 9.18810786e-01 -2.43898661e-03 1.10793549e+01] [ 6.29401939e-03 -4.92516717e-05 9.99980191e-01 2.59711940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.74, Y:11.09, Z:0.26 [[ 9.17747083e-01 -3.97122913e-01 -5.80371486e-03 5.17424490e+01] [ 3.97115448e-01 9.17765432e-01 -2.43593614e-03 1.10912957e+01] [ 6.29381493e-03 -6.91715356e-05 9.99980191e-01 2.57493029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.77, Y:11.10, Z:0.26 [[ 9.18670774e-01 -3.94981814e-01 -5.77716597e-03 5.17720652e+01] [ 3.94973902e-01 9.18688939e-01 -2.50001866e-03 1.11004455e+01] [ 6.29488038e-03 1.48642964e-05 9.99980187e-01 2.58604208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.80, Y:11.11, Z:0.26 [[ 9.19210884e-01 -3.93723047e-01 -5.78896695e-03 5.17975877e+01] [ 3.93715290e-01 9.19229113e-01 -2.47152236e-03 1.11094461e+01] [ 6.29448227e-03 -7.35455056e-06 9.99980190e-01 2.58007042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.82, Y:11.12, Z:0.26 [[ 9.19336533e-01 -3.93429610e-01 -5.78623027e-03 5.18244491e+01] [ 3.93421806e-01 9.19354742e-01 -2.47812820e-03 1.11192674e+01] [ 6.29456725e-03 1.80462843e-06 9.99980189e-01 2.57881109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.85, Y:11.13, Z:0.26 [[ 9.19826610e-01 -3.92282389e-01 -5.79100513e-03 5.18507077e+01] [ 3.92274634e-01 9.19844839e-01 -2.46660335e-03 1.11281718e+01] [ 6.29443123e-03 -2.81701840e-06 9.99980190e-01 2.57745374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.88, Y:11.14, Z:0.26 [[ 9.20529174e-01 -3.90630868e-01 -5.79355309e-03 5.18787803e+01] [ 3.90623120e-01 9.20547405e-01 -2.46045616e-03 1.11360555e+01] [ 6.29437038e-03 1.82589375e-06 9.99980190e-01 2.57461612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84185806399999 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:51.91, Y:11.14, Z:0.26 [[ 9.22076676e-01 -3.86963858e-01 -5.79449017e-03 5.19071784e+01] [ 3.86956051e-01 9.22094882e-01 -2.45820474e-03 1.11432589e+01] [ 6.29430613e-03 2.44402226e-05 9.99980190e-01 2.61117067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.93, Y:11.15, Z:0.26 [[ 9.21294118e-01 -3.88823260e-01 -5.79829593e-03 5.19331828e+01] [ 3.88815547e-01 9.21312364e-01 -2.44905446e-03 1.11547741e+01] [ 6.29429107e-03 1.83186403e-06 9.99980191e-01 2.58235596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901858063999995 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:51.96, Y:11.16, Z:0.26 [[ 9.22833955e-01 -3.85154259e-01 -5.80412366e-03 5.19597628e+01] [ 3.85146562e-01 9.22852207e-01 -2.43504432e-03 1.11612662e+01] [ 6.29421602e-03 1.17033093e-05 9.99980191e-01 2.59299488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.931858064 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:51.99, Y:11.17, Z:0.26 [[ 9.22812524e-01 -3.85205697e-01 -5.79806616e-03 5.19851306e+01] [ 3.85197909e-01 9.22830738e-01 -2.44957905e-03 1.11719229e+01] [ 6.29422548e-03 2.70992651e-05 9.99980191e-01 2.59466362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.01, Y:11.18, Z:0.26 [[ 9.23398097e-01 -3.83799868e-01 -5.79795395e-03 5.20117523e+01] [ 3.83792050e-01 9.23416298e-01 -2.44984827e-03 1.11796963e+01] [ 6.29417662e-03 3.69765950e-05 9.99980191e-01 2.60629635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.04, Y:11.19, Z:0.26 [[ 9.22808699e-01 -3.85214859e-01 -5.79815025e-03 5.20427354e+01] [ 3.85207073e-01 9.22826913e-01 -2.44937522e-03 1.11896878e+01] [ 6.29422482e-03 2.68162751e-05 9.99980191e-01 2.61585742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.07, Y:11.20, Z:0.26 [[ 9.22650094e-01 -3.85594145e-01 -5.82740691e-03 5.20703288e+01] [ 3.85586810e-01 9.22668496e-01 -2.37882684e-03 1.11987420e+01] [ 6.29402647e-03 -5.21464335e-05 9.99980191e-01 2.61273433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.051858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.10, Y:11.21, Z:0.26 [[ 9.23041231e-01 -3.84656854e-01 -5.83020635e-03 5.20954006e+01] [ 3.84649544e-01 9.23059642e-01 -2.37208102e-03 1.12057620e+01] [ 6.29406541e-03 -5.30576252e-05 9.99980191e-01 2.61822579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.12, Y:11.21, Z:0.26 [[ 9.22481362e-01 -3.85997746e-01 -5.82039242e-03 5.21225424e+01] [ 3.85990313e-01 9.22499723e-01 -2.39571287e-03 1.12123112e+01] [ 6.29405017e-03 -3.66146216e-05 9.99980192e-01 2.59951326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.15, Y:11.22, Z:0.26 [[ 9.21387802e-01 -3.88600876e-01 -5.82042601e-03 5.21526804e+01] [ 3.88593495e-01 9.21406184e-01 -2.39563211e-03 1.12232868e+01] [ 6.29392126e-03 -5.44734785e-05 9.99980192e-01 2.60889357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:11.23, Z:0.26 [[ 9.20270541e-01 -3.91239051e-01 -5.84265022e-03 5.21778616e+01] [ 3.91232063e-01 9.20289078e-01 -2.34213261e-03 1.12315183e+01] [ 6.29326093e-03 -1.30436455e-04 9.99980189e-01 2.60555044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.20, Y:11.24, Z:0.26 [[ 9.19398219e-01 -3.93284686e-01 -5.83704286e-03 5.21994584e+01] [ 3.93277653e-01 9.19416738e-01 -2.35563057e-03 1.12427462e+01] [ 6.29310834e-03 -1.29815963e-04 9.99980190e-01 2.62316129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.23, Y:11.25, Z:0.26 [[ 9.20121818e-01 -3.91589159e-01 -5.81118973e-03 5.22294259e+01] [ 3.91581699e-01 9.20140167e-01 -2.41776947e-03 1.12502341e+01] [ 6.29388140e-03 -5.09131056e-05 9.99980192e-01 2.60932298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.26, Y:11.26, Z:0.26 [[ 9.19297196e-01 -3.93520991e-01 -5.82187170e-03 5.22599174e+01] [ 3.93513731e-01 9.19315626e-01 -2.39215131e-03 1.12621736e+01] [ 6.29349938e-03 -9.18884604e-05 9.99980192e-01 2.63193840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261858063999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:52.28, Y:11.27, Z:0.27 [[ 9.18163014e-01 -3.96159712e-01 -5.84486571e-03 5.22796778e+01] [ 3.96152855e-01 9.18181602e-01 -2.33699204e-03 1.12745632e+01] [ 6.29247025e-03 -1.69720580e-04 9.99980188e-01 2.65349529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.291858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:11.29, Z:0.27 [[ 9.17849586e-01 -3.96885884e-01 -5.80798916e-03 5.23044451e+01] [ 3.96878482e-01 9.17867958e-01 -2.42530218e-03 1.12854750e+01] [ 6.29353535e-03 -7.90033201e-05 9.99980192e-01 2.65041747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.33, Y:11.30, Z:0.26 [[ 9.17205037e-01 -3.98373181e-01 -5.80770159e-03 5.23323270e+01] [ 3.98365804e-01 9.17223419e-01 -2.42599060e-03 1.12971053e+01] [ 6.29340951e-03 -8.84589132e-05 9.99980192e-01 2.62701586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.36, Y:11.31, Z:0.26 [[ 9.17316406e-01 -3.98116532e-01 -5.81695880e-03 5.23596445e+01] [ 3.98109291e-01 9.17334843e-01 -2.40383157e-03 1.13075770e+01] [ 6.29310408e-03 -1.10711204e-04 9.99980192e-01 2.63756322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.39, Y:11.32, Z:0.26 [[ 9.17522531e-01 -3.97641161e-01 -5.82343269e-03 5.23873209e+01] [ 3.97634007e-01 9.17541003e-01 -2.38834149e-03 1.13177960e+01] [ 6.29294116e-03 -1.24237751e-04 9.99980192e-01 2.62936756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.41, Y:11.33, Z:0.26 [[ 9.17859579e-01 -3.96862475e-01 -5.82839448e-03 5.24131606e+01] [ 3.96855381e-01 9.17878074e-01 -2.37647379e-03 1.13280378e+01] [ 6.29288877e-03 -1.31760480e-04 9.99980191e-01 2.62019202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.43, Y:11.34, Z:0.26 [[ 9.17577862e-01 -3.97513344e-01 -5.83165926e-03 5.24336947e+01] [ 3.97506313e-01 9.17596382e-01 -2.36866949e-03 1.13409852e+01] [ 6.29268716e-03 -1.44682682e-04 9.99980190e-01 2.63432078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.46, Y:11.35, Z:0.26 [[ 9.18460987e-01 -3.95468985e-01 -5.80501096e-03 5.24605384e+01] [ 3.95461510e-01 9.18479329e-01 -2.43227005e-03 1.13522459e+01] [ 6.29366994e-03 -6.17132484e-05 9.99980193e-01 2.63002147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.49, Y:11.37, Z:0.26 [[ 9.18770807e-01 -3.94748670e-01 -5.80442866e-03 5.24854863e+01] [ 3.94741172e-01 9.18789140e-01 -2.43365888e-03 1.13650769e+01] [ 6.29372962e-03 -5.52722390e-05 9.99980193e-01 2.62707582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.52, Y:11.37, Z:0.26 [[ 9.20022132e-01 -3.91823413e-01 -5.80422328e-03 5.25172425e+01] [ 3.91815854e-01 9.20040440e-01 -2.43414859e-03 1.13745151e+01] [ 6.29387656e-03 -3.47161244e-05 9.99980193e-01 2.62011739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.54, Y:11.39, Z:0.26 [[ 9.19703559e-01 -3.92570031e-01 -5.84237419e-03 5.25361414e+01] [ 3.92563063e-01 9.19722106e-01 -2.34308443e-03 1.13872419e+01] [ 6.29318541e-03 -1.38557219e-04 9.99980188e-01 2.63215550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.55, Y:11.40, Z:0.26 [[ 9.18512024e-01 -3.95350458e-01 -5.80317095e-03 5.25521761e+01] [ 3.95342955e-01 9.18530354e-01 -2.43645898e-03 1.14008786e+01] [ 6.29364385e-03 -5.63258869e-05 9.99980193e-01 2.59032915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.621858063999994 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:52.59, Y:11.41, Z:0.26 [[ 9.21362651e-01 -3.88661639e-01 -5.74422285e-03 5.25887194e+01] [ 3.88653124e-01 9.21380546e-01 -2.57660688e-03 1.14095528e+01] [ 6.29404344e-03 1.41479193e-04 9.99980182e-01 2.63610943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.60, Y:11.42, Z:0.26 [[ 9.19118659e-01 -3.93938081e-01 -5.80344214e-03 5.26031341e+01] [ 3.93930555e-01 9.19136979e-01 -2.43549587e-03 1.14232232e+01] [ 6.29359285e-03 -4.76434854e-05 9.99980194e-01 2.58798921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.64, Y:11.43, Z:0.26 [[ 9.21974568e-01 -3.87207865e-01 -5.74156322e-03 5.26401490e+01] [ 3.87199284e-01 9.21992432e-01 -2.58260318e-03 1.14310502e+01] [ 6.29368210e-03 1.57965288e-04 9.99980182e-01 2.64486401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.66, Y:11.44, Z:0.26 [[ 9.22276965e-01 -3.86486122e-01 -5.80313472e-03 5.26642157e+01] [ 3.86478446e-01 9.22295222e-01 -2.43592055e-03 1.14425934e+01] [ 6.29365292e-03 3.80692694e-06 9.99980195e-01 2.64077424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74185806399999 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:52.69, Y:11.45, Z:0.26 [[ 9.22307741e-01 -3.86412679e-01 -5.80283667e-03 5.26899883e+01] [ 3.86404996e-01 9.22325995e-01 -2.43663037e-03 1.14539339e+01] [ 6.29365197e-03 5.07797157e-06 9.99980195e-01 2.62805694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:11.47, Z:0.26 [[ 9.22169047e-01 -3.86743578e-01 -5.80116777e-03 5.27169410e+01] [ 3.86735877e-01 9.22187294e-01 -2.44060215e-03 1.14654406e+01] [ 6.29365041e-03 7.12805294e-06 9.99980195e-01 2.64923270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.74, Y:11.48, Z:0.26 [[ 9.21897640e-01 -3.87390086e-01 -5.80194404e-03 5.27415282e+01] [ 3.87382410e-01 9.21915897e-01 -2.43875535e-03 1.14757325e+01] [ 6.29365409e-03 7.11740549e-07 9.99980195e-01 2.64738181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.831858063999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:52.77, Y:11.49, Z:0.27 [[ 9.21557023e-01 -3.88199684e-01 -5.80165034e-03 5.27676087e+01] [ 3.88192019e-01 9.21575285e-01 -2.43945383e-03 1.14865315e+01] [ 6.29365277e-03 -4.05854561e-06 9.99980195e-01 2.65109237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.79, Y:11.50, Z:0.27 [[ 9.21088395e-01 -3.89310310e-01 -5.80097226e-03 5.27939771e+01] [ 3.89302657e-01 9.21106662e-01 -2.44106522e-03 1.14974039e+01] [ 6.29364606e-03 -9.89706501e-06 9.99980195e-01 2.65018885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.82, Y:11.51, Z:0.26 [[ 9.19913089e-01 -3.92079412e-01 -5.80029586e-03 5.28190185e+01] [ 3.92071804e-01 9.19931374e-01 -2.44267138e-03 1.15090162e+01] [ 6.29359531e-03 -2.70870868e-05 9.99980195e-01 2.64373273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.85, Y:11.52, Z:0.26 [[ 9.19141998e-01 -3.93883745e-01 -5.79501962e-03 5.28457205e+01] [ 3.93876094e-01 9.19160266e-01 -2.45519027e-03 1.15170044e+01] [ 6.29361131e-03 -2.58512004e-05 9.99980195e-01 2.64545218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.87, Y:11.53, Z:0.26 [[ 9.18202070e-01 -3.96069848e-01 -5.79941123e-03 5.28722145e+01] [ 3.96062306e-01 9.18220384e-01 -2.44477263e-03 1.15271558e+01] [ 6.29343833e-03 -5.21328999e-05 9.99980195e-01 2.64496526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.981858063999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:52.90, Y:11.54, Z:0.26 [[ 9.17289124e-01 -3.98179654e-01 -5.79875143e-03 5.28982651e+01] [ 3.98172144e-01 9.17307451e-01 -2.44633662e-03 1.15374436e+01] [ 6.29331936e-03 -6.49033124e-05 9.99980195e-01 2.64160037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.011858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.92, Y:11.55, Z:0.26 [[ 9.16160166e-01 -4.00770425e-01 -5.79809512e-03 5.29228643e+01] [ 4.00762957e-01 9.16178509e-01 -2.44789116e-03 1.15475441e+01] [ 6.29313252e-03 -8.10013688e-05 9.99980195e-01 2.63369164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.95, Y:11.56, Z:0.26 [[ 9.15784604e-01 -4.01627869e-01 -5.79781065e-03 5.29481908e+01] [ 4.01620414e-01 9.15802952e-01 -2.44856474e-03 1.15586014e+01] [ 6.29306395e-03 -8.61612203e-05 9.99980195e-01 2.63116547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.97, Y:11.57, Z:0.26 [[ 9.15553682e-01 -4.02154010e-01 -5.79716774e-03 5.29741686e+01] [ 4.02146556e-01 9.15572031e-01 -2.45008593e-03 1.15699791e+01] [ 6.29303652e-03 -8.81258449e-05 9.99980195e-01 2.63179408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.00, Y:11.58, Z:0.26 [[ 9.14691885e-01 -4.04110327e-01 -5.79652909e-03 5.30011690e+01] [ 4.04102903e-01 9.14710246e-01 -2.45159594e-03 1.15818302e+01] [ 6.29285979e-03 -9.99393194e-05 9.99980195e-01 2.62087222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.03, Y:11.59, Z:0.26 [[ 9.14118640e-01 -4.05405231e-01 -5.80603537e-03 5.30279299e+01] [ 4.05397975e-01 9.14137069e-01 -2.42914170e-03 1.15938882e+01] [ 6.29229890e-03 -1.33231276e-04 9.99980194e-01 2.64794227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:11.60, Z:0.26 [[ 9.13846260e-01 -4.06018875e-01 -5.80398186e-03 5.30511067e+01] [ 4.06011601e-01 9.13864681e-01 -2.43398963e-03 1.16045495e+01] [ 6.29229977e-03 -1.32191644e-04 9.99980195e-01 2.64022410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.191858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:11.62, Z:0.26 [[ 9.13677248e-01 -4.06399199e-01 -5.79453661e-03 5.30775663e+01] [ 4.06391791e-01 9.13695616e-01 -2.45627173e-03 1.16152785e+01] [ 6.29266956e-03 -1.10612516e-04 9.99980195e-01 2.63904903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.10, Y:11.63, Z:0.26 [[ 9.12753529e-01 -4.08469615e-01 -5.79396414e-03 5.31026020e+01] [ 4.08462240e-01 9.12771909e-01 -2.45762134e-03 1.16277844e+01] [ 6.29243136e-03 -1.23413021e-04 9.99980195e-01 2.64279050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.251858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:53.13, Y:11.64, Z:0.27 [[ 9.13489463e-01 -4.06821137e-01 -5.79331165e-03 5.31291780e+01] [ 4.06813720e-01 9.13507827e-01 -2.45915850e-03 1.16381476e+01] [ 6.29267319e-03 -1.10383285e-04 9.99980195e-01 2.66970004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.15, Y:11.65, Z:0.27 [[ 9.13716453e-01 -4.06311072e-01 -5.79271234e-03 5.31537158e+01] [ 4.06303635e-01 9.13734809e-01 -2.46056939e-03 1.16499130e+01] [ 6.29275949e-03 -1.05337350e-04 9.99980195e-01 2.66844447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.18, Y:11.66, Z:0.27 [[ 9.14203992e-01 -4.05212918e-01 -5.79241470e-03 5.31788316e+01] [ 4.05205455e-01 9.14222337e-01 -2.46126987e-03 1.16617835e+01] [ 6.29289325e-03 -9.70152881e-05 9.99980195e-01 2.67116709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.20, Y:11.67, Z:0.27 [[ 9.14762387e-01 -4.03950779e-01 -5.79177567e-03 5.32028977e+01] [ 4.03943280e-01 9.14780717e-01 -2.46277270e-03 1.16732807e+01] [ 6.29304365e-03 -8.66970316e-05 9.99980195e-01 2.67272805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.371858063999994 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:53.23, Y:11.69, Z:0.27 [[ 9.15969795e-01 -4.01205425e-01 -5.79149700e-03 5.32275898e+01] [ 4.01197868e-01 9.15988102e-01 -2.46342784e-03 1.16855801e+01] [ 6.29328296e-03 -6.71107524e-05 9.99980195e-01 2.67744358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.25, Y:11.70, Z:0.27 [[ 9.16267617e-01 -4.00524799e-01 -5.79130013e-03 5.32530020e+01] [ 4.00517225e-01 9.16285917e-01 -2.46389058e-03 1.16973936e+01] [ 6.29333603e-03 -6.19323013e-05 9.99980195e-01 2.68603445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.28, Y:11.71, Z:0.27 [[ 9.16503595e-01 -3.99984536e-01 -5.79067042e-03 5.32788420e+01] [ 3.99976942e-01 9.16521886e-01 -2.46536964e-03 1.17093424e+01] [ 6.29338591e-03 -5.66145139e-05 9.99980195e-01 2.70032899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:53.30, Y:11.72, Z:0.27 [[ 9.14837540e-01 -4.03780573e-01 -5.78998183e-03 5.32997755e+01] [ 4.03773045e-01 9.14855859e-01 -2.46698576e-03 1.17240531e+01] [ 6.29311972e-03 -8.09474060e-05 9.99980195e-01 2.65291208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:53.33, Y:11.74, Z:0.27 [[ 9.14704220e-01 -4.04082752e-01 -5.77224897e-03 5.33274194e+01] [ 4.04074967e-01 9.14722432e-01 -2.50855007e-03 1.17356490e+01] [ 6.29366743e-03 -3.78399773e-05 9.99980194e-01 2.66998457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52185806399999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:53.35, Y:11.75, Z:0.27 [[ 9.14668825e-01 -4.04162610e-01 -5.79007430e-03 5.33510001e+01] [ 4.04155091e-01 9.14687148e-01 -2.46676368e-03 1.17467089e+01] [ 6.29308019e-03 -8.38161675e-05 9.99980195e-01 2.67348045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.38, Y:11.76, Z:0.27 [[ 9.15384060e-01 -4.02540323e-01 -5.77153088e-03 5.33794244e+01] [ 4.02532497e-01 9.15402255e-01 -2.51017909e-03 1.17560232e+01] [ 6.29372068e-03 -2.54508102e-05 9.99980194e-01 2.70551550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.40, Y:11.77, Z:0.27 [[ 9.14702283e-01 -4.04086910e-01 -5.78811341e-03 5.34036756e+01] [ 4.04079360e-01 9.14720593e-01 -2.47134125e-03 1.17676516e+01] [ 6.29314318e-03 -7.83156773e-05 9.99980195e-01 2.70856954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.42, Y:11.78, Z:0.27 [[ 9.12918185e-01 -4.08101592e-01 -5.78602094e-03 5.34247580e+01] [ 4.08094092e-01 9.12936515e-01 -2.47623912e-03 1.17819558e+01] [ 6.29282692e-03 -1.00637240e-04 9.99980195e-01 2.65954704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:11.79, Z:0.27 [[ 9.14084954e-01 -4.05481771e-01 -5.76453083e-03 5.34548907e+01] [ 4.05473901e-01 9.14103130e-01 -2.52650936e-03 1.17909138e+01] [ 6.29382916e-03 -2.79226042e-05 9.99980193e-01 2.70522854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.47, Y:11.81, Z:0.27 [[ 9.11560264e-01 -4.11125830e-01 -5.78250950e-03 5.34734128e+01] [ 4.11118339e-01 9.11578597e-01 -2.48444034e-03 1.18066551e+01] [ 6.29262950e-03 -1.12578609e-04 9.99980195e-01 2.65076579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.50, Y:11.82, Z:0.26 [[ 9.11111064e-01 -4.12120899e-01 -5.74406850e-03 5.34964740e+01] [ 4.12112860e-01 9.11129170e-01 -2.57423480e-03 1.18192680e+01] [ 6.29448432e-03 -2.17906953e-05 9.99980189e-01 2.63909032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.731858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.52, Y:11.83, Z:0.26 [[ 9.10526553e-01 -4.13410711e-01 -5.74280623e-03 5.35204001e+01] [ 4.13402679e-01 9.10544663e-01 -2.57720356e-03 1.18315037e+01] [ 6.29452512e-03 -2.74792052e-05 9.99980189e-01 2.63398145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.56, Y:11.84, Z:0.27 [[ 9.13744057e-01 -4.06249843e-01 -5.73268770e-03 5.35580144e+01] [ 4.06241520e-01 9.13762038e-01 -2.60100742e-03 1.18386790e+01] [ 6.29497126e-03 4.77993034e-05 9.99980185e-01 2.68808565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.791858063999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:53.57, Y:11.85, Z:0.26 [[ 9.10685616e-01 -4.13059493e-01 -5.79341656e-03 5.35736913e+01] [ 4.13052209e-01 9.10704031e-01 -2.45786399e-03 1.18541329e+01] [ 6.29133186e-03 -1.54642126e-04 9.99980197e-01 2.63042610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.821858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:53.60, Y:11.86, Z:0.26 [[ 9.10778457e-01 -4.12855495e-01 -5.73964229e-03 5.35989198e+01] [ 4.12847406e-01 9.10796542e-01 -2.58443837e-03 1.18648363e+01] [ 6.29464593e-03 -1.57456413e-05 9.99980188e-01 2.63161500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.63, Y:11.87, Z:0.27 [[ 9.13941478e-01 -4.05805435e-01 -5.73792464e-03 5.36347780e+01] [ 4.05797181e-01 9.13959489e-01 -2.58848116e-03 1.18716768e+01] [ 6.29465040e-03 3.72866558e-05 9.99980188e-01 2.69133986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:11.89, Z:0.26 [[ 9.10949018e-01 -4.12478268e-01 -5.79357533e-03 5.36488994e+01] [ 4.12470976e-01 9.10967428e-01 -2.45727224e-03 1.18886173e+01] [ 6.29132981e-03 -1.51231942e-04 9.99980198e-01 2.61817932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:11.90, Z:0.26 [[ 9.11879059e-01 -4.10418980e-01 -5.73083668e-03 5.36777636e+01] [ 4.10410714e-01 9.11897067e-01 -2.60500483e-03 1.19003446e+01] [ 6.29507659e-03 2.34525847e-05 9.99980186e-01 2.62557461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:11.91, Z:0.26 [[ 9.13489970e-01 -4.06820731e-01 -5.74179862e-03 5.37055949e+01] [ 4.06812555e-01 9.13508015e-01 -2.57917479e-03 1.19118756e+01] [ 6.29444083e-03 2.02145340e-05 9.99980190e-01 2.64273654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.971858063999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:53.74, Y:11.92, Z:0.27 [[ 9.16323471e-01 -4.00397550e-01 -5.75313013e-03 5.37389690e+01] [ 4.00389416e-01 9.16341530e-01 -2.55248374e-03 1.19195633e+01] [ 6.29384031e-03 3.54083428e-05 9.99980193e-01 2.70297060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.76, Y:11.93, Z:0.27 [[ 9.16789992e-01 -3.99327611e-01 -5.79394180e-03 5.37644221e+01] [ 3.99320062e-01 9.16808298e-01 -2.45621352e-03 1.19311537e+01] [ 6.29276780e-03 -6.18052287e-05 9.99980198e-01 2.70882035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.79, Y:11.94, Z:0.27 [[ 9.16809813e-01 -3.99282128e-01 -5.79206130e-03 5.37917137e+01] [ 3.99274550e-01 9.16828107e-01 -2.46064665e-03 1.19430978e+01] [ 6.29281683e-03 -5.66776803e-05 9.99980198e-01 2.69901136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.82, Y:11.95, Z:0.27 [[ 9.17995401e-01 -3.96548524e-01 -5.80613996e-03 5.38161231e+01] [ 3.96541101e-01 9.18013759e-01 -2.42745030e-03 1.19542131e+01] [ 6.29271821e-03 -7.39849248e-05 9.99980198e-01 2.69920733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:11.97, Z:0.27 [[ 9.18403502e-01 -3.95602646e-01 -5.79259651e-03 5.38417529e+01] [ 3.95595003e-01 9.18421769e-01 -2.45934969e-03 1.19655414e+01] [ 6.29297198e-03 -3.28468622e-05 9.99980199e-01 2.70275888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.121858063999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:53.87, Y:11.98, Z:0.27 [[ 9.18567617e-01 -3.95221415e-01 -5.79358654e-03 5.38669975e+01] [ 3.95213779e-01 9.18585887e-01 -2.45701877e-03 1.19769564e+01] [ 6.29297327e-03 -3.27673601e-05 9.99980199e-01 2.69230745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.89, Y:11.99, Z:0.27 [[ 9.18926577e-01 -3.94386109e-01 -5.79166356e-03 5.38936725e+01] [ 3.94378427e-01 9.18944828e-01 -2.46154326e-03 1.19887503e+01] [ 6.29301774e-03 -2.21296438e-05 9.99980199e-01 2.71060102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.92, Y:12.00, Z:0.27 [[ 9.18782096e-01 -3.94722553e-01 -5.79372993e-03 5.39195385e+01] [ 3.94714909e-01 9.18800362e-01 -2.45668361e-03 1.19997791e+01] [ 6.29298958e-03 -2.97146660e-05 9.99980199e-01 2.71317015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.95, Y:12.01, Z:0.27 [[ 9.18690432e-01 -3.94935890e-01 -5.79074790e-03 5.39460082e+01] [ 3.94928206e-01 9.18708682e-01 -2.46369268e-03 1.20105295e+01] [ 6.29301103e-03 -2.35587890e-05 9.99980199e-01 2.72076800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.97, Y:12.02, Z:0.27 [[ 9.16687311e-01 -3.99563323e-01 -5.79006018e-03 5.39655843e+01] [ 3.99555721e-01 9.16705595e-01 -2.46530786e-03 1.20246750e+01] [ 6.29282716e-03 -5.35352416e-05 9.99980199e-01 2.67436112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.00, Y:12.03, Z:0.27 [[ 9.18455886e-01 -3.95481552e-01 -5.75571015e-03 5.39983915e+01] [ 3.95473362e-01 9.18473918e-01 -2.54586888e-03 1.20325268e+01] [ 6.29331383e-03 6.20382133e-05 9.99980195e-01 2.71976578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.301858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.02, Y:12.05, Z:0.27 [[ 9.17456572e-01 -3.97793815e-01 -5.78953235e-03 5.40180037e+01] [ 3.97786170e-01 9.17474839e-01 -2.46647855e-03 1.20458417e+01] [ 6.29290017e-03 -4.01089417e-05 9.99980199e-01 2.68069289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.04, Y:12.06, Z:0.27 [[ 9.17194195e-01 -3.98398842e-01 -5.75946256e-03 5.40449515e+01] [ 3.98390764e-01 9.17212277e-01 -2.53718823e-03 1.20570208e+01] [ 6.29346262e-03 3.25776277e-05 9.99980195e-01 2.68970741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.07, Y:12.07, Z:0.27 [[ 9.17864310e-01 -3.96852359e-01 -5.77178787e-03 5.40746617e+01] [ 3.96844433e-01 9.17882457e-01 -2.50819687e-03 1.20662220e+01] [ 6.29320668e-03 1.16825059e-05 9.99980198e-01 2.73542602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.10, Y:12.08, Z:0.27 [[ 9.17324259e-01 -3.98098803e-01 -5.79191037e-03 5.41009212e+01] [ 3.98091200e-01 9.17342543e-01 -2.46083587e-03 1.20773019e+01] [ 6.29282160e-03 -4.83241074e-05 9.99980199e-01 2.73806405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.13, Y:12.09, Z:0.27 [[ 9.16728927e-01 -3.99467817e-01 -5.79121298e-03 5.41259677e+01] [ 3.99460231e-01 9.16747217e-01 -2.46247598e-03 1.20876803e+01] [ 6.29275829e-03 -5.59363116e-05 9.99980199e-01 2.73801703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.15, Y:12.10, Z:0.27 [[ 9.13852002e-01 -4.06006141e-01 -5.79073897e-03 5.41453342e+01] [ 4.05998679e-01 9.13870343e-01 -2.46359015e-03 1.21018160e+01] [ 6.29221734e-03 -9.96755761e-05 9.99980199e-01 2.67981950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:12.11, Z:0.27 [[ 9.13683416e-01 -4.06385859e-01 -5.75748331e-03 5.41721718e+01] [ 4.06377911e-01 9.13701556e-01 -2.54174139e-03 1.21128436e+01] [ 6.29354921e-03 -1.73670785e-05 9.99980195e-01 2.68059356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.511858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.19, Y:12.13, Z:0.27 [[ 9.12323353e-01 -4.09429982e-01 -5.76098425e-03 5.41926580e+01] [ 4.09422146e-01 9.12341541e-01 -2.53349861e-03 1.21261015e+01] [ 6.29327554e-03 -4.73045875e-05 9.99980196e-01 2.66319246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:12.14, Z:0.27 [[ 9.13422992e-01 -4.06971283e-01 -5.72821233e-03 5.42231210e+01] [ 4.06962914e-01 9.13440951e-01 -2.61060010e-03 1.21369525e+01] [ 6.29482300e-03 5.34121749e-05 9.99980186e-01 2.67359291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.26, Y:12.15, Z:0.27 [[ 9.15918342e-01 -4.01323435e-01 -5.75258740e-03 5.42563862e+01] [ 4.01315314e-01 9.15936406e-01 -2.55326060e-03 1.21452114e+01] [ 6.29368754e-03 2.99768024e-05 9.99980194e-01 2.72090523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.28, Y:12.16, Z:0.27 [[ 9.16359489e-01 -4.00314547e-01 -5.79227241e-03 5.42816965e+01] [ 4.00306995e-01 9.16377793e-01 -2.45981192e-03 1.21571682e+01] [ 6.29260830e-03 -6.46151714e-05 9.99980199e-01 2.71509227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.30, Y:12.17, Z:0.26 [[ 9.13861562e-01 -4.05984609e-01 -5.79158445e-03 5.42977010e+01] [ 4.05977160e-01 9.13879908e-01 -2.46143065e-03 1.21725585e+01] [ 6.29211562e-03 -1.01844149e-04 9.99980199e-01 2.64044083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.33, Y:12.18, Z:0.27 [[ 9.14894759e-01 -4.03651616e-01 -5.74048375e-03 5.43269584e+01] [ 4.03643364e-01 9.14912767e-01 -2.58145356e-03 1.21823333e+01] [ 6.29404977e-03 4.46501663e-05 9.99980191e-01 2.65581809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.36, Y:12.19, Z:0.27 [[ 9.17246082e-01 -3.98279370e-01 -5.75921242e-03 5.43593534e+01] [ 3.98271289e-01 9.17264162e-01 -2.53745073e-03 1.21905819e+01] [ 6.29333343e-03 3.37377880e-05 9.99980196e-01 2.72422969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.38, Y:12.20, Z:0.27 [[ 9.16083367e-01 -4.00946039e-01 -5.79118424e-03 5.43818832e+01] [ 4.00938484e-01 9.16101670e-01 -2.46225352e-03 1.22046442e+01] [ 6.29254435e-03 -6.62791362e-05 9.99980200e-01 2.70825589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:12.22, Z:0.27 [[ 9.16826660e-01 -3.99243738e-01 -5.77181510e-03 5.44091015e+01] [ 3.99235862e-01 9.16844828e-01 -2.50771039e-03 1.22151667e+01] [ 6.29304649e-03 -5.17983652e-06 9.99980199e-01 2.71203381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:12.23, Z:0.28 [[ 9.18289721e-01 -3.95866866e-01 -5.78032750e-03 5.44365646e+01] [ 3.95859049e-01 9.18307914e-01 -2.48773916e-03 1.22252320e+01] [ 6.29293399e-03 -3.72964805e-06 9.99980199e-01 2.75216846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.46, Y:12.24, Z:0.28 [[ 9.18532888e-01 -3.95302190e-01 -5.78898103e-03 5.44618828e+01] [ 3.95294489e-01 9.18551130e-01 -2.46743665e-03 1.22363570e+01] [ 6.29285818e-03 -2.19305866e-05 9.99980200e-01 2.76651439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.48, Y:12.25, Z:0.28 [[ 9.17497881e-01 -3.97698547e-01 -5.78830594e-03 5.44846656e+01] [ 3.97690884e-01 9.17516138e-01 -2.46901933e-03 1.22491781e+01] [ 6.29278951e-03 -3.66365005e-05 9.99980200e-01 2.75846924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.871858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.52, Y:12.26, Z:0.28 [[ 9.18797565e-01 -3.94686872e-01 -5.77132838e-03 5.45157684e+01] [ 3.94678899e-01 9.18815690e-01 -2.50877074e-03 1.22585796e+01] [ 6.29296594e-03 2.72309142e-05 9.99980199e-01 2.77852401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.54, Y:12.27, Z:0.28 [[ 9.18675676e-01 -3.94970146e-01 -5.79538540e-03 5.45403400e+01] [ 3.94962534e-01 9.18693955e-01 -2.45242582e-03 1.22702054e+01] [ 6.29282052e-03 -3.59761577e-05 9.99980199e-01 2.80597379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.56, Y:12.28, Z:0.28 [[ 9.18756013e-01 -3.94783302e-01 -5.79077584e-03 5.45647118e+01] [ 3.94775618e-01 9.18774262e-01 -2.46321621e-03 1.22816561e+01] [ 6.29285243e-03 -2.29624112e-05 9.99980200e-01 2.79501917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:54.59, Y:12.29, Z:0.28 [[ 9.18580284e-01 -3.95192077e-01 -5.78657977e-03 5.45899656e+01] [ 3.95184339e-01 9.18598510e-01 -2.47303447e-03 1.22931152e+01] [ 6.29286719e-03 -1.50849990e-05 9.99980200e-01 2.78999586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99185806399999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:54.62, Y:12.30, Z:0.28 [[ 9.18135817e-01 -3.96223605e-01 -5.78592038e-03 5.46153186e+01] [ 3.96215878e-01 9.18154047e-01 -2.47457624e-03 1.23037228e+01] [ 6.29285173e-03 -2.04764483e-05 9.99980200e-01 2.78180422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02185806399999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:54.64, Y:12.31, Z:0.28 [[ 9.17803301e-01 -3.96993233e-01 -5.78563462e-03 5.46422723e+01] [ 3.96985517e-01 9.17821536e-01 -2.47524417e-03 1.23147140e+01] [ 6.29283524e-03 -2.50258815e-05 9.99980200e-01 2.78853837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.051858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.67, Y:12.33, Z:0.28 [[ 9.17373605e-01 -3.97985163e-01 -5.78608591e-03 5.46674815e+01] [ 3.97977474e-01 9.17391851e-01 -2.47418952e-03 1.23252145e+01] [ 6.29279879e-03 -3.29756958e-05 9.99980200e-01 2.77889355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081858063999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.69, Y:12.34, Z:0.28 [[ 9.16703395e-01 -3.99526497e-01 -5.78480957e-03 5.46930187e+01] [ 3.99518819e-01 9.16721646e-01 -2.47717009e-03 1.23361422e+01] [ 6.29275524e-03 -4.03100615e-05 9.99980200e-01 2.77500387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.111858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.72, Y:12.35, Z:0.28 [[ 9.15651954e-01 -4.01930395e-01 -5.78416351e-03 5.47198800e+01] [ 4.01922756e-01 9.15670222e-01 -2.47867772e-03 1.23479936e+01] [ 6.29264220e-03 -5.51808353e-05 9.99980200e-01 2.76639024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.75, Y:12.36, Z:0.28 [[ 9.15366759e-01 -4.02579491e-01 -5.78356907e-03 5.47459956e+01] [ 4.02571856e-01 9.15385028e-01 -2.48006397e-03 1.23591874e+01] [ 6.29261543e-03 -5.81340159e-05 9.99980200e-01 2.76509324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.77, Y:12.37, Z:0.28 [[ 9.14974624e-01 -4.03469963e-01 -5.78159338e-03 5.47717239e+01] [ 4.03462317e-01 9.14992888e-01 -2.48466916e-03 1.23704542e+01] [ 6.29260620e-03 -5.92458362e-05 9.99980200e-01 2.75487332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.80, Y:12.38, Z:0.28 [[ 9.14219012e-01 -4.05179166e-01 -5.78278590e-03 5.47968696e+01] [ 4.05171572e-01 9.14237298e-01 -2.48189059e-03 1.23817214e+01] [ 6.29244892e-03 -7.40288880e-05 9.99980200e-01 2.77571553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.231858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.82, Y:12.39, Z:0.28 [[ 9.14705575e-01 -4.04079588e-01 -5.77907637e-03 5.48231333e+01] [ 4.04071917e-01 9.14723829e-01 -2.49052964e-03 1.23921977e+01] [ 6.29263105e-03 -5.70611218e-05 9.99980200e-01 2.77353725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.261858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:12.40, Z:0.28 [[ 9.14541420e-01 -4.04450939e-01 -5.78183410e-03 5.48477582e+01] [ 4.04443316e-01 9.14559694e-01 -2.48411094e-03 1.24032939e+01] [ 6.29253343e-03 -6.66018060e-05 9.99980200e-01 2.77902047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.291858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.87, Y:12.41, Z:0.28 [[ 9.14512348e-01 -4.04516673e-01 -5.78154846e-03 5.48735990e+01] [ 4.04509047e-01 9.14530621e-01 -2.48477557e-03 1.24149083e+01] [ 6.29253625e-03 -6.63307177e-05 9.99980200e-01 2.79000428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.90, Y:12.43, Z:0.28 [[ 9.14509305e-01 -4.04523564e-01 -5.78084071e-03 5.49003965e+01] [ 4.04515928e-01 9.14527573e-01 -2.48642105e-03 1.24265463e+01] [ 6.29255413e-03 -6.45869609e-05 9.99980200e-01 2.79309660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.93, Y:12.44, Z:0.28 [[ 9.14464298e-01 -4.04625282e-01 -5.78170714e-03 5.49263435e+01] [ 4.04617660e-01 9.14482573e-01 -2.48440715e-03 1.24377181e+01] [ 6.29252437e-03 -6.74791731e-05 9.99980200e-01 2.79242569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.95, Y:12.45, Z:0.28 [[ 9.13825153e-01 -4.06066719e-01 -5.77998804e-03 5.49499106e+01] [ 4.06059101e-01 9.13843430e-01 -2.48840023e-03 1.24501385e+01] [ 6.29246061e-03 -7.30540277e-05 9.99980200e-01 2.77299325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.98, Y:12.46, Z:0.28 [[ 9.13885724e-01 -4.05930562e-01 -5.76740099e-03 5.49751209e+01] [ 4.05922756e-01 9.13903921e-01 -2.51761947e-03 1.24613390e+01] [ 6.29282907e-03 -4.03028147e-05 9.99980199e-01 2.78386435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.00, Y:12.47, Z:0.28 [[ 9.15057375e-01 -4.03282480e-01 -5.76554582e-03 5.50031771e+01] [ 4.03274594e-01 9.15075539e-01 -2.52192668e-03 1.24710292e+01] [ 6.29295879e-03 -1.73905486e-05 9.99980199e-01 2.80749045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:12.48, Z:0.28 [[ 9.14586172e-01 -4.04349762e-01 -5.77962577e-03 5.50278947e+01] [ 4.04342105e-01 9.14604432e-01 -2.48923519e-03 1.24832876e+01] [ 6.29259300e-03 -6.03259687e-05 9.99980200e-01 2.81435903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:12.49, Z:0.28 [[ 9.15598500e-01 -4.02052283e-01 -5.77480748e-03 5.50537228e+01] [ 4.02044509e-01 9.15616711e-01 -2.50041533e-03 1.24936230e+01] [ 6.29280792e-03 -3.23531123e-05 9.99980200e-01 2.81499561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.531858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:55.08, Y:12.51, Z:0.28 [[ 9.15600847e-01 -4.02046883e-01 -5.77872718e-03 5.50791754e+01] [ 4.02039166e-01 9.15619081e-01 -2.49132343e-03 1.25050259e+01] [ 6.29274169e-03 -4.22168124e-05 9.99980200e-01 2.81353617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.10, Y:12.52, Z:0.28 [[ 9.15745880e-01 -4.01716439e-01 -5.77803193e-03 5.51038774e+01] [ 4.01708706e-01 9.15764108e-01 -2.49293486e-03 1.25159946e+01] [ 6.29276717e-03 -3.81908957e-05 9.99980200e-01 2.80499734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.13, Y:12.53, Z:0.28 [[ 9.16746046e-01 -3.99428724e-01 -5.77773049e-03 5.51327594e+01] [ 3.99420940e-01 9.16764252e-01 -2.49363329e-03 1.25261200e+01] [ 6.29284553e-03 -2.17180887e-05 9.99980200e-01 2.79081903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.16, Y:12.54, Z:0.28 [[ 9.16933027e-01 -3.98999043e-01 -5.79554546e-03 5.51591428e+01] [ 3.98991511e-01 9.16951340e-01 -2.45237749e-03 1.25374451e+01] [ 6.29272944e-03 -6.37075246e-05 9.99980199e-01 2.79490959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.18, Y:12.55, Z:0.28 [[ 9.16573610e-01 -3.99823978e-01 -5.79686611e-03 5.51805837e+01] [ 3.99816482e-01 9.16591938e-01 -2.44932084e-03 1.25495698e+01] [ 6.29265794e-03 -7.26997684e-05 9.99980198e-01 2.81018887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.21, Y:12.56, Z:0.28 [[ 9.16996185e-01 -3.98854162e-01 -5.77531241e-03 5.52058796e+01] [ 3.98846333e-01 9.17014371e-01 -2.49912995e-03 1.25604158e+01] [ 6.29283286e-03 -1.17695492e-05 9.99980200e-01 2.81067189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.711858064 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:55.23, Y:12.57, Z:0.28 [[ 9.16960707e-01 -3.98935723e-01 -5.77501117e-03 5.52337727e+01] [ 3.98927891e-01 9.16978892e-01 -2.49982585e-03 1.25716101e+01] [ 6.29283318e-03 -1.15709407e-05 9.99980200e-01 2.80820394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74185806399999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:55.26, Y:12.58, Z:0.28 [[ 9.16786199e-01 -3.99336431e-01 -5.78619848e-03 5.52599841e+01] [ 3.99328770e-01 9.16804457e-01 -2.47398244e-03 1.25831801e+01] [ 6.29276387e-03 -4.24825639e-05 9.99980199e-01 2.81011504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.28, Y:12.59, Z:0.28 [[ 9.17007497e-01 -3.98828009e-01 -5.78530011e-03 5.52846084e+01] [ 3.98820324e-01 9.17025746e-01 -2.47605553e-03 1.25929648e+01] [ 6.29278944e-03 -3.67337790e-05 9.99980200e-01 2.82497254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801858063999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.31, Y:12.60, Z:0.28 [[ 9.16918131e-01 -3.99033602e-01 -5.77282872e-03 5.53102885e+01] [ 3.99025741e-01 9.16936303e-01 -2.50479845e-03 1.26034085e+01] [ 6.29281497e-03 -6.81214395e-06 9.99980200e-01 2.83331605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.831858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.34, Y:12.61, Z:0.28 [[ 9.17028165e-01 -3.98780619e-01 -5.77611949e-03 5.53361571e+01] [ 3.98772800e-01 9.17046355e-01 -2.49721845e-03 1.26144126e+01] [ 6.29281165e-03 -1.33396865e-05 9.99980200e-01 2.82993105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.36, Y:12.63, Z:0.28 [[ 9.17059755e-01 -3.98708033e-01 -5.77146995e-03 5.53627280e+01] [ 3.98700145e-01 9.17077916e-01 -2.50791844e-03 1.26254904e+01] [ 6.29281487e-03 -1.17484094e-06 9.99980200e-01 2.83691791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.39, Y:12.64, Z:0.28 [[ 9.16673797e-01 -3.99594595e-01 -5.77150994e-03 5.53890281e+01] [ 3.99586726e-01 9.16691965e-01 -2.50782643e-03 1.26367996e+01] [ 6.29281068e-03 -7.35998748e-06 9.99980200e-01 2.83043945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.41, Y:12.65, Z:0.28 [[ 9.16342229e-01 -4.00354365e-01 -5.77071001e-03 5.54141460e+01] [ 4.00346499e-01 9.16360400e-01 -2.50966578e-03 1.26473051e+01] [ 6.29280578e-03 -1.05708201e-05 9.99980200e-01 2.82602428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.44, Y:12.66, Z:0.28 [[ 9.14495462e-01 -4.04555005e-01 -5.77040429e-03 5.54366551e+01] [ 4.04547218e-01 9.14513667e-01 -2.51036852e-03 1.26602270e+01] [ 6.29269573e-03 -3.86803783e-05 9.99980200e-01 2.77498169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:12.67, Z:0.28 [[ 9.15066500e-01 -4.03262021e-01 -5.74823129e-03 5.54666548e+01] [ 4.03253888e-01 9.15084554e-01 -2.56127025e-03 1.26679384e+01] [ 6.29298068e-03 2.57359849e-05 9.99980199e-01 2.82733207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.011858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.50, Y:12.68, Z:0.28 [[ 9.13608657e-01 -4.06553730e-01 -5.76944179e-03 5.54954068e+01] [ 4.06545969e-01 9.13626873e-01 -2.51256597e-03 1.26779726e+01] [ 6.29261013e-03 -5.00412772e-05 9.99980200e-01 2.83870455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.52, Y:12.69, Z:0.28 [[ 9.13083224e-01 -4.07732386e-01 -5.77299481e-03 5.55213023e+01] [ 4.07724700e-01 9.13101471e-01 -2.50441049e-03 1.26890750e+01] [ 6.29245931e-03 -6.70573727e-05 9.99980200e-01 2.83518118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.55, Y:12.70, Z:0.28 [[ 9.12438088e-01 -4.09174123e-01 -5.76820230e-03 5.55468911e+01] [ 4.09166397e-01 9.12456318e-01 -2.51540045e-03 1.27001204e+01] [ 6.29246940e-03 -6.50073700e-05 9.99980200e-01 2.83129710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.57, Y:12.71, Z:0.28 [[ 9.10547664e-01 -4.13363867e-01 -5.76751425e-03 5.55708881e+01] [ 4.13356214e-01 9.10565926e-01 -2.51697707e-03 1.27118297e+01] [ 6.29212933e-03 -9.22102646e-05 9.99980200e-01 2.80859788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.60, Y:12.72, Z:0.28 [[ 9.11327591e-01 -4.11641749e-01 -5.75253360e-03 5.56001129e+01] [ 4.11633845e-01 9.11345746e-01 -2.55127189e-03 1.27206963e+01] [ 6.29275705e-03 -4.28930543e-05 9.99980199e-01 2.84488113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:12.73, Z:0.28 [[ 9.11169739e-01 -4.11990838e-01 -5.76676888e-03 5.56254442e+01] [ 4.11983147e-01 9.11187984e-01 -2.51867880e-03 1.27305397e+01] [ 6.29228310e-03 -8.08676883e-05 9.99980200e-01 2.83525243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.191858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:12.74, Z:0.28 [[ 9.11153442e-01 -4.12026884e-01 -5.76645552e-03 5.56523784e+01] [ 4.12019190e-01 9.11171685e-01 -2.51939602e-03 1.27400321e+01] [ 6.29228989e-03 -8.03339718e-05 9.99980200e-01 2.84404874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.68, Y:12.75, Z:0.28 [[ 9.11189089e-01 -4.11948056e-01 -5.76575575e-03 5.56787721e+01] [ 4.11940349e-01 9.11207327e-01 -2.52099646e-03 1.27508522e+01] [ 6.29231848e-03 -7.80429658e-05 9.99980200e-01 2.84816208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.70, Y:12.76, Z:0.29 [[ 9.11471262e-01 -4.11323355e-01 -5.76504577e-03 5.57043176e+01] [ 4.11315626e-01 9.11489491e-01 -2.52261900e-03 1.27616252e+01] [ 6.29239075e-03 -7.19586849e-05 9.99980200e-01 2.85108396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.73, Y:12.77, Z:0.28 [[ 9.12243351e-01 -4.09608155e-01 -5.76433229e-03 5.57290220e+01] [ 4.09600381e-01 9.12261561e-01 -2.52424830e-03 1.27721043e+01] [ 6.29253146e-03 -5.83439688e-05 9.99980200e-01 2.84779275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.75, Y:12.78, Z:0.29 [[ 9.12684475e-01 -4.08624311e-01 -5.76384874e-03 5.57541985e+01] [ 4.08616510e-01 9.12702673e-01 -2.52535194e-03 1.27820306e+01] [ 6.29260035e-03 -5.03542545e-05 9.99980200e-01 2.85292274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.78, Y:12.79, Z:0.29 [[ 9.12870076e-01 -4.08209513e-01 -5.76354542e-03 5.57801879e+01] [ 4.08201699e-01 9.12888269e-01 -2.52604401e-03 1.27927966e+01] [ 6.29262820e-03 -4.67390452e-05 9.99980200e-01 2.85839804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.371858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.81, Y:12.80, Z:0.29 [[ 9.13106752e-01 -4.07679837e-01 -5.76284346e-03 5.58051945e+01] [ 4.07672003e-01 9.13124936e-01 -2.52764442e-03 1.28030572e+01] [ 6.29266574e-03 -4.13407486e-05 9.99980200e-01 2.86065717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.83, Y:12.81, Z:0.29 [[ 9.13665742e-01 -4.06425521e-01 -5.76253919e-03 5.58312799e+01] [ 4.06417658e-01 9.13683914e-01 -2.52833792e-03 1.28126302e+01] [ 6.29272042e-03 -3.19419444e-05 9.99980200e-01 2.87056581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.86, Y:12.82, Z:0.29 [[ 9.13843037e-01 -4.06026730e-01 -5.76182733e-03 5.58564916e+01] [ 4.06018848e-01 9.13861201e-01 -2.52995915e-03 1.28231410e+01] [ 6.29274148e-03 -2.74249444e-05 9.99980200e-01 2.87284324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:12.83, Z:0.29 [[ 9.13974186e-01 -4.05731432e-01 -5.76134328e-03 5.58810313e+01] [ 4.05723537e-01 9.13992344e-01 -2.53106097e-03 1.28337077e+01] [ 6.29275464e-03 -2.41881862e-05 9.99980200e-01 2.86916692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.91, Y:12.85, Z:0.29 [[ 9.14267723e-01 -4.05069553e-01 -5.76086307e-03 5.59074991e+01] [ 4.05061639e-01 9.14285872e-01 -2.53215347e-03 1.28451795e+01] [ 6.29277400e-03 -1.84384572e-05 9.99980200e-01 2.88609188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.93, Y:12.86, Z:0.29 [[ 9.14337797e-01 -4.04911363e-01 -5.76023964e-03 5.59335513e+01] [ 4.04903437e-01 9.14355942e-01 -2.53357089e-03 1.28566399e+01] [ 6.29278098e-03 -1.58011964e-05 9.99980200e-01 2.89388266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.96, Y:12.87, Z:0.29 [[ 9.14403753e-01 -4.04762405e-01 -5.75952341e-03 5.59592255e+01] [ 4.04754466e-01 9.14421891e-01 -2.53519803e-03 1.28674741e+01] [ 6.29278714e-03 -1.29982232e-05 9.99980200e-01 2.90006508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.98, Y:12.88, Z:0.29 [[ 9.14573182e-01 -4.04379440e-01 -5.75880690e-03 5.59847521e+01] [ 4.04371483e-01 9.14591312e-01 -2.53682457e-03 1.28779006e+01] [ 6.29279446e-03 -8.58556620e-06 9.99980200e-01 2.90599535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.01, Y:12.89, Z:0.29 [[ 9.14470388e-01 -4.04611848e-01 -5.75858492e-03 5.60101925e+01] [ 4.04603893e-01 9.14488519e-01 -2.53732837e-03 1.28887868e+01] [ 6.29279292e-03 -9.63421257e-06 9.99980200e-01 2.91231877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.03, Y:12.90, Z:0.29 [[ 9.14392863e-01 -4.04787029e-01 -5.75787855e-03 5.60346073e+01] [ 4.04779067e-01 9.14410991e-01 -2.53893031e-03 1.28996060e+01] [ 6.29279349e-03 -9.08895381e-06 9.99980200e-01 2.91105014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.06, Y:12.91, Z:0.29 [[ 9.14143232e-01 -4.05350468e-01 -5.75757319e-03 5.60606226e+01] [ 4.05342512e-01 9.14161363e-01 -2.53962257e-03 1.29111860e+01] [ 6.29278816e-03 -1.22103956e-05 9.99980200e-01 2.91487025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70185806399999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:56.09, Y:12.92, Z:0.29 [[ 9.13705637e-01 -4.06335905e-01 -5.75687454e-03 5.60867112e+01] [ 4.06327959e-01 9.13723772e-01 -2.54120530e-03 1.29228641e+01] [ 6.29277608e-03 -1.72654729e-05 9.99980200e-01 2.91052142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.731858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.11, Y:12.94, Z:0.29 [[ 9.12925656e-01 -4.08085303e-01 -5.75614178e-03 5.61123953e+01] [ 4.08077381e-01 9.12943802e-01 -2.54286402e-03 1.29350237e+01] [ 6.29273939e-03 -2.75054645e-05 9.99980200e-01 2.90353101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.14, Y:12.95, Z:0.29 [[ 9.11718430e-01 -4.10775339e-01 -5.75535822e-03 5.61377621e+01] [ 4.10767460e-01 9.11736595e-01 -2.54463625e-03 1.29466799e+01] [ 6.29264452e-03 -4.41221084e-05 9.99980200e-01 2.89032092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.791858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.16, Y:12.96, Z:0.29 [[ 9.10977367e-01 -4.12416199e-01 -5.75466325e-03 5.61626209e+01] [ 4.12408342e-01 9.10995541e-01 -2.54620693e-03 1.29575981e+01] [ 6.29256955e-03 -5.37342499e-05 9.99980200e-01 2.88331749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.19, Y:12.97, Z:0.29 [[ 9.10176780e-01 -4.14180052e-01 -5.75436177e-03 5.61887815e+01] [ 4.14172227e-01 9.10194968e-01 -2.54688808e-03 1.29689014e+01] [ 6.29246137e-03 -6.51784326e-05 9.99980200e-01 2.88210282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.21, Y:12.98, Z:0.29 [[ 9.09470088e-01 -4.15729544e-01 -5.75368684e-03 5.62148636e+01] [ 4.15721740e-01 9.09488285e-01 -2.54841193e-03 1.29801578e+01] [ 6.29236090e-03 -7.42282808e-05 9.99980200e-01 2.88512957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.24, Y:12.99, Z:0.29 [[ 9.07900757e-01 -4.19145767e-01 -5.74809082e-03 5.62418449e+01] [ 4.19137951e-01 9.07918949e-01 -2.56103964e-03 1.29917684e+01] [ 6.29224951e-03 -8.40731814e-05 9.99980200e-01 2.88587447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.27, Y:13.00, Z:0.29 [[ 9.07333222e-01 -4.20372844e-01 -5.75299624e-03 5.62676860e+01] [ 4.20365123e-01 9.07351454e-01 -2.54997252e-03 1.30033019e+01] [ 6.29192871e-03 -1.04684193e-04 9.99980200e-01 2.89707924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.29, Y:13.01, Z:0.29 [[ 9.07115997e-01 -4.20841394e-01 -5.75229290e-03 5.62926527e+01] [ 4.20833672e-01 9.07134229e-01 -2.55155815e-03 1.30140765e+01] [ 6.29190308e-03 -1.06199328e-04 9.99980200e-01 2.89358797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.971858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:13.03, Z:0.29 [[ 9.07052621e-01 -4.20977976e-01 -5.75198815e-03 5.63181719e+01] [ 4.20970253e-01 9.07070853e-01 -2.55224496e-03 1.30259733e+01] [ 6.29189972e-03 -1.06395423e-04 9.99980200e-01 2.89848687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.34, Y:13.04, Z:0.29 [[ 9.07146266e-01 -4.20776157e-01 -5.75130097e-03 5.63437103e+01] [ 4.20768419e-01 9.07164492e-01 -2.55379254e-03 1.30375893e+01] [ 6.29195103e-03 -1.03302451e-04 9.99980200e-01 2.90222690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.37, Y:13.05, Z:0.29 [[ 9.07136188e-01 -4.20797893e-01 -5.75059395e-03 5.63694689e+01] [ 4.20790146e-01 9.07154410e-01 -2.55538360e-03 1.30495025e+01] [ 6.29197670e-03 -1.01712323e-04 9.99980200e-01 2.90201350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:13.06, Z:0.29 [[ 9.07143437e-01 -4.20782276e-01 -5.74988402e-03 5.63942327e+01] [ 4.20774519e-01 9.07161654e-01 -2.55698003e-03 1.30610563e+01] [ 6.29200617e-03 -9.98570317e-05 9.99980200e-01 2.89616565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:13.07, Z:0.29 [[ 9.07217328e-01 -4.20622946e-01 -5.74957650e-03 5.64192337e+01] [ 4.20615181e-01 9.07235542e-01 -2.55767133e-03 1.30719284e+01] [ 6.29203540e-03 -9.79954044e-05 9.99980200e-01 2.89264003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.45, Y:13.08, Z:0.29 [[ 9.07098611e-01 -4.20878908e-01 -5.74927206e-03 5.64453371e+01] [ 4.20871144e-01 9.07116825e-01 -2.55835549e-03 1.30832833e+01] [ 6.29201928e-03 -9.90220003e-05 9.99980200e-01 2.90092001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.47, Y:13.09, Z:0.29 [[ 9.06720068e-01 -4.21693814e-01 -5.74855620e-03 5.64706824e+01] [ 4.21686056e-01 9.06738284e-01 -2.55996298e-03 1.30947956e+01] [ 6.29195654e-03 -1.02916191e-04 9.99980200e-01 2.90061082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.50, Y:13.11, Z:0.29 [[ 9.06575418e-01 -4.22004708e-01 -5.74784086e-03 5.64950219e+01] [ 4.21996946e-01 9.06593633e-01 -2.56156812e-03 1.31061840e+01] [ 6.29194973e-03 -1.03316594e-04 9.99980200e-01 2.90123241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:13.12, Z:0.29 [[ 9.05999034e-01 -4.23240731e-01 -5.74753059e-03 5.65206673e+01] [ 4.23232989e-01 9.06017258e-01 -2.56226410e-03 1.31181197e+01] [ 6.29181643e-03 -1.11135754e-04 9.99980200e-01 2.90294421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:13.13, Z:0.29 [[ 9.05636004e-01 -4.24016984e-01 -5.74681892e-03 5.65461843e+01] [ 4.24009248e-01 9.05654230e-01 -2.56385928e-03 1.31295374e+01] [ 6.29175075e-03 -1.14781095e-04 9.99980200e-01 2.90252411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.57, Y:13.14, Z:0.29 [[ 9.05313574e-01 -4.24704975e-01 -5.74610422e-03 5.65717734e+01] [ 4.24697242e-01 9.05331801e-01 -2.56546007e-03 1.31409500e+01] [ 6.29169454e-03 -1.17808795e-04 9.99980200e-01 2.90318300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.60, Y:13.15, Z:0.29 [[ 9.04914148e-01 -4.25555372e-01 -5.74538787e-03 5.65970285e+01] [ 4.25547647e-01 9.04932379e-01 -2.56706335e-03 1.31521766e+01] [ 6.29161511e-03 -1.21964337e-04 9.99980200e-01 2.90644782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.62, Y:13.16, Z:0.29 [[ 9.04940014e-01 -4.25500375e-01 -5.74466377e-03 5.66215048e+01] [ 4.25492639e-01 9.04958240e-01 -2.56868273e-03 1.31634134e+01] [ 6.29165628e-03 -1.19808362e-04 9.99980200e-01 2.90163622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.65, Y:13.18, Z:0.29 [[ 9.04762626e-01 -4.25877445e-01 -5.74394267e-03 5.66466425e+01] [ 4.25869706e-01 9.04780851e-01 -2.57029420e-03 1.31753388e+01] [ 6.29163967e-03 -1.20665045e-04 9.99980200e-01 2.89958780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.67, Y:13.19, Z:0.29 [[ 9.05356939e-01 -4.24612563e-01 -5.74322138e-03 5.66705286e+01] [ 4.24604788e-01 9.05375148e-01 -2.57190489e-03 1.31876805e+01] [ 6.29183304e-03 -1.10107357e-04 9.99980200e-01 2.89240685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.69, Y:13.20, Z:0.29 [[ 9.05719294e-01 -4.23839097e-01 -5.74291244e-03 5.66948519e+01] [ 4.23831302e-01 9.05737495e-01 -2.57259456e-03 1.31983241e+01] [ 6.29193728e-03 -1.03977526e-04 9.99980200e-01 2.89329486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.72, Y:13.21, Z:0.29 [[ 9.05932321e-01 -4.23383576e-01 -5.74260859e-03 5.67210185e+01] [ 4.23375768e-01 9.05950516e-01 -2.57327264e-03 1.32097134e+01] [ 6.29200059e-03 -1.00070467e-04 9.99980200e-01 2.90002719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:13.22, Z:0.29 [[ 9.06295716e-01 -4.22605141e-01 -5.74191591e-03 5.67464932e+01] [ 4.22597308e-01 9.06313900e-01 -2.57481732e-03 1.32208595e+01] [ 6.29210925e-03 -9.29722952e-05 9.99980200e-01 2.91217420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.511858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:13.23, Z:0.29 [[ 9.07396819e-01 -4.20235710e-01 -5.74119624e-03 5.67722607e+01] [ 4.20227819e-01 9.07414978e-01 -2.57642101e-03 1.32323546e+01] [ 6.29235158e-03 -7.47741504e-05 9.99980200e-01 2.91852813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.80, Y:13.24, Z:0.29 [[ 9.07871322e-01 -4.19209625e-01 -5.74047377e-03 5.67986020e+01] [ 4.19201703e-01 9.07889468e-01 -2.57802975e-03 1.32444286e+01] [ 6.29245056e-03 -6.58971053e-05 9.99980200e-01 2.91522315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:13.26, Z:0.29 [[ 9.08354289e-01 -4.18162086e-01 -5.74072490e-03 5.68236903e+01] [ 4.18154146e-01 9.08372427e-01 -2.57747068e-03 1.32558749e+01] [ 6.29251673e-03 -5.92513746e-05 9.99980200e-01 2.90584502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.85, Y:13.27, Z:0.29 [[ 9.09004318e-01 -4.16747174e-01 -5.73956769e-03 5.68497970e+01] [ 4.16739190e-01 9.09022437e-01 -2.58004500e-03 1.32678118e+01] [ 6.29262227e-03 -4.66307430e-05 9.99980200e-01 2.89037824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.88, Y:13.28, Z:0.29 [[ 9.08887251e-01 -4.17002434e-01 -5.73893488e-03 5.68758458e+01] [ 4.16994447e-01 9.08905368e-01 -2.58145183e-03 1.32796085e+01] [ 6.29262042e-03 -4.68553166e-05 9.99980200e-01 2.89217149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:13.29, Z:0.29 [[ 9.09115428e-01 -4.16504757e-01 -5.73820949e-03 5.69005577e+01] [ 4.16496749e-01 9.09133536e-01 -2.58306328e-03 1.32900687e+01] [ 6.29265682e-03 -4.16429182e-05 9.99980200e-01 2.88487815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.93, Y:13.30, Z:0.29 [[ 9.09043346e-01 -4.16662059e-01 -5.73789511e-03 5.69263736e+01] [ 4.16654050e-01 9.09061454e-01 -2.58376142e-03 1.33007029e+01] [ 6.29265463e-03 -4.19661083e-05 9.99980200e-01 2.89286713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.95, Y:13.31, Z:0.29 [[ 9.08929889e-01 -4.16909513e-01 -5.73716685e-03 5.69525540e+01] [ 4.16901498e-01 9.08947994e-01 -2.58537749e-03 1.33104380e+01] [ 6.29265477e-03 -4.19065823e-05 9.99980200e-01 2.89366160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:13.32, Z:0.29 [[ 9.08723035e-01 -4.17360196e-01 -5.73694162e-03 5.69785444e+01] [ 4.17352188e-01 9.08741143e-01 -2.58587719e-03 1.33216354e+01] [ 6.29263709e-03 -4.44789712e-05 9.99980200e-01 2.89585274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:13.33, Z:0.29 [[ 9.08536418e-01 -4.17766289e-01 -5.73624506e-03 5.70039292e+01] [ 4.17758279e-01 9.08554525e-01 -2.58742144e-03 1.33325781e+01] [ 6.29262886e-03 -4.55972578e-05 9.99980200e-01 2.90386766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:13.34, Z:0.29 [[ 9.08023704e-01 -4.18879525e-01 -5.73553285e-03 5.70302600e+01] [ 4.18871527e-01 9.08041817e-01 -2.58899923e-03 1.33429878e+01] [ 6.29258244e-03 -5.15787255e-05 9.99980200e-01 2.90731552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:13.35, Z:0.29 [[ 9.07753829e-01 -4.19464059e-01 -5.73482300e-03 5.70551011e+01] [ 4.19456063e-01 9.07771943e-01 -2.59057064e-03 1.33531064e+01] [ 6.29256270e-03 -5.39058570e-05 9.99980200e-01 2.90590421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:13.36, Z:0.29 [[ 9.07414417e-01 -4.20197800e-01 -5.73451600e-03 5.70811734e+01] [ 4.20189814e-01 9.07432535e-01 -2.59125006e-03 1.33637077e+01] [ 6.29252396e-03 -5.82475502e-05 9.99980200e-01 2.91089721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.11, Y:13.37, Z:0.29 [[ 9.06916761e-01 -4.21270830e-01 -5.73382051e-03 5.71070162e+01] [ 4.21262856e-01 9.06934884e-01 -2.59278809e-03 1.33742556e+01] [ 6.29246783e-03 -6.40026329e-05 9.99980200e-01 2.92608464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:13.38, Z:0.29 [[ 9.06531148e-01 -4.22100000e-01 -5.73311374e-03 5.71325768e+01] [ 4.22092032e-01 9.06549274e-01 -2.59434993e-03 1.33840919e+01] [ 6.29242521e-03 -6.80426083e-05 9.99980200e-01 2.93216885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.16, Y:13.40, Z:0.29 [[ 9.06297581e-01 -4.22601268e-01 -5.73263306e-03 5.71583794e+01] [ 4.22593304e-01 9.06315708e-01 -2.59541165e-03 1.33957802e+01] [ 6.29239965e-03 -7.03570451e-05 9.99980200e-01 2.93563087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:13.41, Z:0.29 [[ 9.06278002e-01 -4.22643263e-01 -5.73191976e-03 5.71839135e+01] [ 4.22635290e-01 9.06296126e-01 -2.59698601e-03 1.34073441e+01] [ 6.29241531e-03 -6.89202813e-05 9.99980200e-01 2.93779170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.021858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.21, Y:13.42, Z:0.29 [[ 9.06232684e-01 -4.22740436e-01 -5.73119583e-03 5.72103480e+01] [ 4.22732455e-01 9.06250804e-01 -2.59858264e-03 1.34187751e+01] [ 6.29242678e-03 -6.78419654e-05 9.99980200e-01 2.93381737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.051858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:57.23, Y:13.43, Z:0.29 [[ 9.06251763e-01 -4.22699542e-01 -5.73055705e-03 5.72346022e+01] [ 4.22691551e-01 9.06269879e-01 -2.59999056e-03 1.34298046e+01] [ 6.29244606e-03 -6.60120188e-05 9.99980200e-01 2.93127313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.26, Y:13.44, Z:0.29 [[ 9.06106183e-01 -4.23011524e-01 -5.73024058e-03 5.72606697e+01] [ 4.23003535e-01 9.06124299e-01 -2.60068784e-03 1.34415565e+01] [ 6.29243116e-03 -6.74126920e-05 9.99980200e-01 2.93426372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.29, Y:13.45, Z:0.29 [[ 9.05716813e-01 -4.23844580e-01 -5.72951422e-03 5.72862075e+01] [ 4.23836597e-01 9.05734932e-01 -2.60228709e-03 1.34525881e+01] [ 6.29238645e-03 -7.14426445e-05 9.99980200e-01 2.93819694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.31, Y:13.46, Z:0.29 [[ 9.05311934e-01 -4.24708703e-01 -5.72879145e-03 5.73120291e+01] [ 4.24700728e-01 9.05330057e-01 -2.60387727e-03 1.34642312e+01] [ 6.29233642e-03 -7.57007305e-05 9.99980200e-01 2.93962503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.34, Y:13.48, Z:0.29 [[ 9.05050313e-01 -4.25265940e-01 -5.72807359e-03 5.73372486e+01] [ 4.25257966e-01 9.05068436e-01 -2.60545546e-03 1.34756824e+01] [ 6.29231008e-03 -7.78406385e-05 9.99980200e-01 2.94838610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.36, Y:13.49, Z:0.30 [[ 9.04311632e-01 -4.26834475e-01 -5.72734342e-03 5.73623620e+01] [ 4.26826522e-01 9.04329765e-01 -2.60705956e-03 1.34876223e+01] [ 6.29219002e-03 -8.69877889e-05 9.99980200e-01 2.95211764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.39, Y:13.50, Z:0.30 [[ 9.03730497e-01 -4.28063533e-01 -5.72711729e-03 5.73870016e+01] [ 4.28055602e-01 9.03748639e-01 -2.60755621e-03 1.34991781e+01] [ 6.29207418e-03 -9.49965669e-05 9.99980200e-01 2.95658825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:13.51, Z:0.30 [[ 9.02744886e-01 -4.30138205e-01 -5.72680852e-03 5.74131711e+01] [ 4.30130310e-01 9.02763044e-01 -2.60823417e-03 1.35116529e+01] [ 6.29185225e-03 -1.08703869e-04 9.99980200e-01 2.96540084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.44, Y:13.52, Z:0.30 [[ 9.02137244e-01 -4.31411177e-01 -5.72619507e-03 5.74381271e+01] [ 4.31403300e-01 9.02155410e-01 -2.60958026e-03 1.35238047e+01] [ 6.29171995e-03 -1.16099909e-04 9.99980200e-01 2.97231190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.46, Y:13.54, Z:0.30 [[ 9.01513723e-01 -4.32712637e-01 -5.72549768e-03 5.74641713e+01] [ 4.32704777e-01 9.01531895e-01 -2.61110946e-03 1.35363229e+01] [ 6.29157883e-03 -1.23499184e-04 9.99980200e-01 2.97092749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.49, Y:13.55, Z:0.30 [[ 9.01354080e-01 -4.33045000e-01 -5.73160035e-03 5.74894553e+01] [ 4.33037231e-01 9.01372292e-01 -2.59773176e-03 1.35490386e+01] [ 6.29124049e-03 -1.40520222e-04 9.99980200e-01 2.97869226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.51, Y:13.56, Z:0.30 [[ 9.00945688e-01 -4.33894107e-01 -5.72456927e-03 5.75131615e+01] [ 4.33886257e-01 9.00963866e-01 -2.61313467e-03 1.35626266e+01] [ 6.29145380e-03 -1.29519523e-04 9.99980200e-01 2.96864185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.54, Y:13.58, Z:0.30 [[ 9.00554262e-01 -4.34705940e-01 -5.72425623e-03 5.75385805e+01] [ 4.34698102e-01 9.00572445e-01 -2.61382023e-03 1.35755045e+01] [ 6.29135061e-03 -1.34436369e-04 9.99980200e-01 2.96519259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.56, Y:13.59, Z:0.30 [[ 9.00025499e-01 -4.35799658e-01 -5.72354651e-03 5.75640720e+01] [ 4.35791833e-01 9.00043687e-01 -2.61537341e-03 1.35881892e+01] [ 6.29122074e-03 -1.40372061e-04 9.99980200e-01 2.96887619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.471858064 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:57.59, Y:13.60, Z:0.30 [[ 8.99708714e-01 -4.36453296e-01 -5.72282454e-03 5.75889668e+01] [ 4.36445473e-01 8.99726903e-01 -2.61695224e-03 1.36006193e+01] [ 6.29115663e-03 -1.43206130e-04 9.99980200e-01 2.95229217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.61, Y:13.61, Z:0.30 [[ 8.99315501e-01 -4.37262948e-01 -5.72231432e-03 5.76131041e+01] [ 4.37255135e-01 8.99333694e-01 -2.61806742e-03 1.36144639e+01] [ 6.29105395e-03 -1.47642710e-04 9.99980200e-01 2.96723705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.64, Y:13.63, Z:0.30 [[ 8.98964162e-01 -4.37984849e-01 -5.71901586e-03 5.76377305e+01] [ 4.37977004e-01 8.98982342e-01 -2.62527421e-03 1.36273493e+01] [ 6.29112460e-03 -1.44770001e-04 9.99980200e-01 2.96387725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.66, Y:13.64, Z:0.30 [[ 8.99207727e-01 -4.37484547e-01 -5.72144451e-03 5.76621025e+01] [ 4.37476726e-01 8.99225917e-01 -2.61997055e-03 1.36420652e+01] [ 6.29106782e-03 -1.47101049e-04 9.99980200e-01 2.96399649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.69, Y:13.66, Z:0.29 [[ 8.98572266e-01 -4.38788281e-01 -5.72074329e-03 5.76865686e+01] [ 4.38780477e-01 8.98590463e-01 -2.62150080e-03 1.36566625e+01] [ 6.29088919e-03 -1.54542558e-04 9.99980200e-01 2.94003283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.71, Y:13.67, Z:0.30 [[ 8.99756248e-01 -4.36355450e-01 -5.71099515e-03 5.77134794e+01] [ 4.36347462e-01 8.99774365e-01 -2.64275917e-03 1.36686482e+01] [ 6.29178940e-03 -1.14139166e-04 9.99980200e-01 2.97038040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.74, Y:13.68, Z:0.30 [[ 9.00248184e-01 -4.35339514e-01 -5.71965204e-03 5.77375866e+01] [ 4.35331625e-01 9.00266345e-01 -2.62388854e-03 1.36820827e+01] [ 6.29149260e-03 -1.27794522e-04 9.99980200e-01 2.97727404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.76, Y:13.70, Z:0.30 [[ 9.00398614e-01 -4.35028304e-01 -5.71930792e-03 5.77626032e+01] [ 4.35020404e-01 9.00416770e-01 -2.62463842e-03 1.36950643e+01] [ 6.29155276e-03 -1.24794848e-04 9.99980200e-01 2.98285247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.79, Y:13.71, Z:0.30 [[ 9.01071195e-01 -4.33633484e-01 -5.71857859e-03 5.77879523e+01] [ 4.33625546e-01 9.01089334e-01 -2.62622654e-03 1.37079632e+01] [ 6.29176994e-03 -1.13304679e-04 9.99980200e-01 2.98363199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.81, Y:13.72, Z:0.30 [[ 9.01610036e-01 -4.32512021e-01 -5.71784312e-03 5.78117424e+01] [ 4.32504051e-01 9.01628161e-01 -2.62782683e-03 1.37219873e+01] [ 6.29193507e-03 -1.03715269e-04 9.99980200e-01 2.98859674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.771858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.84, Y:13.74, Z:0.30 [[ 9.01686485e-01 -4.32352626e-01 -5.71750051e-03 5.78388234e+01] [ 4.32344647e-01 9.01704606e-01 -2.62857205e-03 1.37358533e+01] [ 6.29196657e-03 -1.01782853e-04 9.99980200e-01 2.96007757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.86, Y:13.75, Z:0.30 [[ 9.02382199e-01 -4.30898534e-01 -5.72895830e-03 5.78614257e+01] [ 4.30890684e-01 9.02400376e-01 -2.60365062e-03 1.37477184e+01] [ 6.29172336e-03 -1.19066786e-04 9.99980200e-01 2.99541041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.89, Y:13.76, Z:0.30 [[ 9.02556732e-01 -4.30533001e-01 -5.71666370e-03 5.78862608e+01] [ 4.30524975e-01 9.02574832e-01 -2.63037084e-03 1.37606169e+01] [ 6.29217823e-03 -8.71075891e-05 9.99980200e-01 2.99426809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.91, Y:13.77, Z:0.30 [[ 9.02939350e-01 -4.29729982e-01 -5.71591406e-03 5.79103832e+01] [ 4.29721929e-01 9.02957439e-01 -2.63199883e-03 1.37736201e+01] [ 6.29227593e-03 -7.97183012e-05 9.99980200e-01 3.00301038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.94, Y:13.79, Z:0.30 [[ 9.02843328e-01 -4.29931688e-01 -5.71558912e-03 5.79353961e+01] [ 4.29923635e-01 9.02861416e-01 -2.63270428e-03 1.37863980e+01] [ 6.29226788e-03 -8.03473508e-05 9.99980200e-01 3.00866195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.96, Y:13.80, Z:0.30 [[ 9.02802596e-01 -4.30017225e-01 -5.71485657e-03 5.79607131e+01] [ 4.30009163e-01 9.02820680e-01 -2.63429347e-03 1.37993524e+01] [ 6.29228227e-03 -7.91937078e-05 9.99980200e-01 3.01306078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:13.81, Z:0.30 [[ 9.02683271e-01 -4.30267661e-01 -5.71412860e-03 5.79848418e+01] [ 4.30259595e-01 9.02701353e-01 -2.63587160e-03 1.38137164e+01] [ 6.29228193e-03 -7.92014581e-05 9.99980200e-01 3.01343685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98185806400001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.01, Y:13.83, Z:0.30 [[ 9.02443945e-01 -4.30769408e-01 -5.71340132e-03 5.80086188e+01] [ 4.30761342e-01 9.02462027e-01 -2.63744707e-03 1.38264402e+01] [ 6.29225925e-03 -8.09642837e-05 9.99980200e-01 3.01126207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.03, Y:13.84, Z:0.30 [[ 9.01867101e-01 -4.31975802e-01 -5.71308645e-03 5.80329723e+01] [ 4.31967755e-01 9.01885192e-01 -2.63812896e-03 1.38404699e+01] [ 6.29215594e-03 -8.86274120e-05 9.99980200e-01 3.01655525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.06, Y:13.85, Z:0.30 [[ 9.01265039e-01 -4.33230538e-01 -5.71234532e-03 5.80572101e+01] [ 4.33222506e-01 9.01283136e-01 -2.63973275e-03 1.38532572e+01] [ 6.29205334e-03 -9.56177216e-05 9.99980200e-01 3.01506594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.08, Y:13.87, Z:0.30 [[ 9.00597908e-01 -4.34615672e-01 -5.71184210e-03 5.80819774e+01] [ 4.34607661e-01 9.00616015e-01 -2.64082116e-03 1.38657094e+01] [ 6.29191874e-03 -1.04092326e-04 9.99980200e-01 3.01821075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.11, Y:13.88, Z:0.30 [[ 8.99895802e-01 -4.36067575e-01 -5.71110176e-03 5.81073357e+01] [ 4.36059583e-01 8.99913917e-01 -2.64242127e-03 1.38778609e+01] [ 6.29177419e-03 -1.12476841e-04 9.99980200e-01 3.02017235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.13, Y:13.89, Z:0.30 [[ 8.98566779e-01 -4.38799654e-01 -5.71036339e-03 5.81323502e+01] [ 4.38791707e-01 8.98584914e-01 -2.64401596e-03 1.38917418e+01] [ 6.29143968e-03 -1.29835198e-04 9.99980200e-01 3.02085757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.16, Y:13.90, Z:0.30 [[ 8.97710471e-01 -4.40548873e-01 -5.70962592e-03 5.81557034e+01] [ 4.40540952e-01 8.97728617e-01 -2.64560753e-03 1.39045872e+01] [ 6.29121400e-03 -1.40334455e-04 9.99980200e-01 3.01657781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:13.92, Z:0.30 [[ 8.96849919e-01 -4.42298122e-01 -5.70912580e-03 5.81806170e+01] [ 4.42290229e-01 8.96868077e-01 -2.64668634e-03 1.39176450e+01] [ 6.29095707e-03 -1.51410130e-04 9.99980200e-01 3.01729437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.20, Y:13.93, Z:0.30 [[ 8.95403313e-01 -4.45219408e-01 -5.70838108e-03 5.82041697e+01] [ 4.45211564e-01 8.95421493e-01 -2.64829156e-03 1.39312184e+01] [ 6.29047791e-03 -1.70148235e-04 9.99980200e-01 3.01571427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:13.94, Z:0.30 [[ 8.94845246e-01 -4.46340010e-01 -5.70805861e-03 5.82279291e+01] [ 4.46332184e-01 8.94863433e-01 -2.64898643e-03 1.39438938e+01] [ 6.29028155e-03 -1.77257354e-04 9.99980200e-01 3.01584241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.25, Y:13.96, Z:0.30 [[ 8.94257190e-01 -4.47517038e-01 -5.70774182e-03 5.82522885e+01] [ 4.47509232e-01 8.94275387e-01 -2.64966885e-03 1.39572814e+01] [ 6.29006497e-03 -1.84781736e-04 9.99980200e-01 3.02124233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.311858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.28, Y:13.97, Z:0.30 [[ 8.93927590e-01 -4.48175070e-01 -5.70700810e-03 5.82759572e+01] [ 4.48167268e-01 8.93945788e-01 -2.65124823e-03 1.39725423e+01] [ 6.28997921e-03 -1.87670279e-04 9.99980200e-01 3.03590224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34185806400001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.30, Y:13.99, Z:0.30 [[ 8.93641094e-01 -4.48746102e-01 -5.70354534e-03 5.83009318e+01] [ 4.48738264e-01 8.93659276e-01 -2.65869985e-03 1.39870320e+01] [ 6.29010739e-03 -1.83475593e-04 9.99980200e-01 3.03315806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:14.00, Z:0.30 [[ 8.93681310e-01 -4.48665973e-01 -5.70622938e-03 5.83238720e+01] [ 4.48658169e-01 8.93699507e-01 -2.65292669e-03 1.40011367e+01] [ 6.28993232e-03 -1.89275432e-04 9.99980200e-01 3.03355787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.35, Y:14.02, Z:0.30 [[ 8.94013632e-01 -4.48003425e-01 -5.70590418e-03 5.83476439e+01] [ 4.47995603e-01 8.94031821e-01 -2.65362594e-03 1.40177935e+01] [ 6.29009342e-03 -1.83842224e-04 9.99980200e-01 3.03024130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.37, Y:14.03, Z:0.30 [[ 8.94240414e-01 -4.47550593e-01 -5.70521112e-03 5.83725544e+01] [ 4.47542753e-01 8.94258595e-01 -2.65511517e-03 1.40313056e+01] [ 6.29023245e-03 -1.79014600e-04 9.99980200e-01 3.03636342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:14.05, Z:0.31 [[ 8.95336805e-01 -4.45353192e-01 -5.70447001e-03 5.83947873e+01] [ 4.45345297e-01 8.95354962e-01 -2.65670647e-03 1.40464044e+01] [ 6.29069824e-03 -1.61811805e-04 9.99980200e-01 3.05026955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:14.06, Z:0.31 [[ 8.95895119e-01 -4.44228993e-01 -5.70410256e-03 5.84182843e+01] [ 4.44221071e-01 8.95913265e-01 -2.65749518e-03 1.40605948e+01] [ 6.29091756e-03 -1.53045579e-04 9.99980200e-01 3.05235835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.521858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:58.44, Y:14.08, Z:0.31 [[ 8.96485114e-01 -4.43037143e-01 -5.70360257e-03 5.84426428e+01] [ 4.43029190e-01 8.96503246e-01 -2.65856783e-03 1.40752977e+01] [ 6.29114252e-03 -1.43495942e-04 9.99980200e-01 3.05282523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.551858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:58.47, Y:14.09, Z:0.31 [[ 8.96363597e-01 -4.43282956e-01 -5.70287384e-03 5.84685077e+01] [ 4.43274997e-01 8.96381727e-01 -2.66013011e-03 1.40874460e+01] [ 6.29114224e-03 -1.43497591e-04 9.99980200e-01 3.05461764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.49, Y:14.10, Z:0.31 [[ 8.96768086e-01 -4.42464106e-01 -5.70214398e-03 5.84929017e+01] [ 4.42456121e-01 8.96786204e-01 -2.66169369e-03 1.41024881e+01] [ 6.29130798e-03 -1.36026555e-04 9.99980200e-01 3.05645326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.51, Y:14.12, Z:0.30 [[ 8.97956704e-01 -4.40046875e-01 -5.70139138e-03 5.85146587e+01] [ 4.40038831e-01 8.97974796e-01 -2.66330481e-03 1.41193373e+01] [ 6.29168472e-03 -1.17301192e-04 9.99980200e-01 3.04430745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.54, Y:14.13, Z:0.31 [[ 8.98485664e-01 -4.38965840e-01 -5.70106578e-03 5.85385334e+01] [ 4.38957770e-01 8.98503745e-01 -2.66400160e-03 1.41330352e+01] [ 6.29183465e-03 -1.08959872e-04 9.99980200e-01 3.06413858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.56, Y:14.15, Z:0.30 [[ 8.98684367e-01 -4.38558938e-01 -5.69795841e-03 5.85638017e+01] [ 4.38550818e-01 8.98702425e-01 -2.67064889e-03 1.41466523e+01] [ 6.29200598e-03 -9.87739109e-05 9.99980200e-01 3.04890184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.59, Y:14.16, Z:0.31 [[ 8.99165963e-01 -4.37570656e-01 -5.70023719e-03 5.85880060e+01] [ 4.37562546e-01 8.99184026e-01 -2.66577616e-03 1.41609372e+01] [ 6.29202765e-03 -9.72351101e-05 9.99980200e-01 3.06690346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.61, Y:14.17, Z:0.31 [[ 8.99408899e-01 -4.37071102e-01 -5.69949266e-03 5.86115494e+01] [ 4.37062972e-01 8.99426953e-01 -2.66736703e-03 1.41743932e+01] [ 6.29210636e-03 -9.19835591e-05 9.99980200e-01 3.06835830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.64, Y:14.19, Z:0.31 [[ 8.99921335e-01 -4.36015034e-01 -5.69917001e-03 5.86355084e+01] [ 4.36006878e-01 8.99939378e-01 -2.66805624e-03 1.41903055e+01] [ 6.29222014e-03 -8.38365935e-05 9.99980200e-01 3.07371298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:14.20, Z:0.31 [[ 9.00321080e-01 -4.35189018e-01 -5.69840548e-03 5.86592635e+01] [ 4.35180836e-01 9.00339110e-01 -2.66968813e-03 1.42031430e+01] [ 6.29231627e-03 -7.62603651e-05 9.99980200e-01 3.06921500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.68, Y:14.22, Z:0.31 [[ 9.00613075e-01 -4.34584423e-01 -5.69807437e-03 5.86844912e+01] [ 4.34576224e-01 9.00631098e-01 -2.67039463e-03 1.42166240e+01] [ 6.29237489e-03 -7.12553229e-05 9.99980200e-01 3.07773766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.851858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.71, Y:14.23, Z:0.31 [[ 9.01043231e-01 -4.33691868e-01 -5.69732273e-03 5.87095527e+01] [ 4.33683641e-01 9.01061241e-01 -2.67199732e-03 1.42297317e+01] [ 6.29246019e-03 -6.32505693e-05 9.99980200e-01 3.09509635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.73, Y:14.24, Z:0.31 [[ 9.01589132e-01 -4.32555890e-01 -5.69549228e-03 5.87333927e+01] [ 4.32547616e-01 9.01607120e-01 -2.67589794e-03 1.42435054e+01] [ 6.29257181e-03 -5.10111069e-05 9.99980200e-01 3.07927045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:14.26, Z:0.31 [[ 9.01640025e-01 -4.32449785e-01 -5.69636583e-03 5.87573283e+01] [ 4.32441521e-01 9.01658017e-01 -2.67403707e-03 1.42556940e+01] [ 6.29256068e-03 -5.23262581e-05 9.99980200e-01 3.06723527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.78, Y:14.27, Z:0.31 [[ 9.01467009e-01 -4.32810335e-01 -5.69604420e-03 5.87821954e+01] [ 4.32802074e-01 9.01485003e-01 -2.67472200e-03 1.42686051e+01] [ 6.29254575e-03 -5.40861013e-05 9.99980200e-01 3.06858213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:14.28, Z:0.31 [[ 9.01194787e-01 -4.33376879e-01 -5.69529481e-03 5.88063173e+01] [ 4.33368618e-01 9.01212782e-01 -2.67631673e-03 1.42806839e+01] [ 6.29252627e-03 -5.62793599e-05 9.99980200e-01 3.06752675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.83, Y:14.29, Z:0.31 [[ 9.00800498e-01 -4.34195844e-01 -5.69497009e-03 5.88310911e+01] [ 4.34187596e-01 9.00818497e-01 -2.67700753e-03 1.42929666e+01] [ 6.29247995e-03 -6.12356536e-05 9.99980200e-01 3.07158509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:14.30, Z:0.31 [[ 9.00018123e-01 -4.35815275e-01 -5.69421073e-03 5.88558077e+01] [ 4.35807049e-01 9.00036133e-01 -2.67862178e-03 1.43048368e+01] [ 6.29237970e-03 -7.07690289e-05 9.99980200e-01 3.07506235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.88, Y:14.32, Z:0.31 [[ 8.99530222e-01 -4.36821427e-01 -5.69388167e-03 5.88815446e+01] [ 4.36813217e-01 8.99548239e-01 -2.67932107e-03 1.43164224e+01] [ 6.29230609e-03 -7.70324930e-05 9.99980200e-01 3.07578491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:14.33, Z:0.31 [[ 8.99002126e-01 -4.37907257e-01 -5.69313454e-03 5.89072603e+01] [ 4.37899059e-01 8.99020148e-01 -2.68090766e-03 1.43278672e+01] [ 6.29223158e-03 -8.28765738e-05 9.99980200e-01 3.07959436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.93, Y:14.34, Z:0.31 [[ 8.98658785e-01 -4.38611429e-01 -5.69236862e-03 5.89325334e+01] [ 4.38603234e-01 8.98676809e-01 -2.68253297e-03 1.43392980e+01] [ 6.29218928e-03 -8.60094687e-05 9.99980200e-01 3.08035864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.96, Y:14.35, Z:0.31 [[ 8.98577923e-01 -4.38777076e-01 -5.69160203e-03 5.89570565e+01] [ 4.38768874e-01 8.98595944e-01 -2.68415846e-03 1.43505274e+01] [ 6.29219770e-03 -8.53722833e-05 9.99980200e-01 3.07896403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.98, Y:14.36, Z:0.31 [[ 8.98818907e-01 -4.38283221e-01 -5.69127007e-03 5.89823132e+01] [ 4.38275005e-01 8.98836922e-01 -2.68486215e-03 1.43626185e+01] [ 6.29225370e-03 -8.11365561e-05 9.99980200e-01 3.08040667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.01, Y:14.37, Z:0.31 [[ 8.99182590e-01 -4.37536614e-01 -5.69052067e-03 5.90068021e+01] [ 4.37528373e-01 8.99200593e-01 -2.68644956e-03 1.43744930e+01] [ 6.29233960e-03 -7.41555744e-05 9.99980200e-01 3.07722562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:14.39, Z:0.31 [[ 8.99306836e-01 -4.37281186e-01 -5.69019571e-03 5.90320025e+01] [ 4.37272936e-01 8.99324835e-01 -2.68713768e-03 1.43867894e+01] [ 6.29236907e-03 -7.16072930e-05 9.99980200e-01 3.07067272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.06, Y:14.40, Z:0.31 [[ 8.99322459e-01 -4.37249065e-01 -5.68945260e-03 5.90577620e+01] [ 4.37240804e-01 8.99340453e-01 -2.68871013e-03 1.43977985e+01] [ 6.29239087e-03 -6.96434176e-05 9.99980200e-01 3.05796501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:14.41, Z:0.31 [[ 8.99049483e-01 -4.37810074e-01 -5.68922244e-03 5.90840971e+01] [ 4.37801821e-01 8.99067480e-01 -2.68919705e-03 1.44086212e+01] [ 6.29235244e-03 -7.30307279e-05 9.99980200e-01 3.06775671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.11, Y:14.42, Z:0.31 [[ 8.98401757e-01 -4.39137705e-01 -5.68845205e-03 5.91104019e+01] [ 4.39129468e-01 8.98419763e-01 -2.69082568e-03 1.44178999e+01] [ 6.29226075e-03 -8.05244029e-05 9.99980200e-01 3.08578887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:14.43, Z:0.31 [[ 8.97901741e-01 -4.40159271e-01 -5.68146121e-03 5.91350485e+01] [ 4.40150962e-01 8.97919713e-01 -2.70559254e-03 1.44284148e+01] [ 6.29238766e-03 -7.13443649e-05 9.99980200e-01 3.09659263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.391858064 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:59.16, Y:14.44, Z:0.31 [[ 8.97055767e-01 -4.41880904e-01 -5.67604689e-03 5.91624057e+01] [ 4.41872557e-01 8.97073721e-01 -2.71701900e-03 1.44402756e+01] [ 6.29243131e-03 -7.07717849e-05 9.99980200e-01 3.10353771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:14.45, Z:0.31 [[ 8.96283730e-01 -4.43444627e-01 -5.68664152e-03 5.91889592e+01] [ 4.43436452e-01 8.96301764e-01 -2.69466076e-03 1.44504990e+01] [ 6.29187966e-03 -1.06483544e-04 9.99980200e-01 3.11622137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.451858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.21, Y:14.46, Z:0.31 [[ 8.96675398e-01 -4.42652122e-01 -5.68588471e-03 5.92131586e+01] [ 4.42643922e-01 8.96693420e-01 -2.69625673e-03 1.44610752e+01] [ 6.29199917e-03 -9.91552330e-05 9.99980200e-01 3.11586610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:14.47, Z:0.31 [[ 8.96084940e-01 -4.43846364e-01 -5.67319049e-03 5.92407708e+01] [ 4.43838018e-01 8.96102896e-01 -2.72301218e-03 1.44730432e+01] [ 6.29236148e-03 -7.79274104e-05 9.99980200e-01 3.11181682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.511858064 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:59.27, Y:14.48, Z:0.31 [[ 8.96332619e-01 -4.43345821e-01 -5.68509652e-03 5.92666510e+01] [ 4.43337623e-01 8.96350642e-01 -2.69792365e-03 1.44837502e+01] [ 6.29195309e-03 -1.02180207e-04 9.99980200e-01 3.12604705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.541858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.29, Y:14.49, Z:0.31 [[ 8.96549006e-01 -4.42908117e-01 -5.68152976e-03 5.92919697e+01] [ 4.42899863e-01 8.96567004e-01 -2.70543422e-03 1.44929986e+01] [ 6.29213089e-03 -9.07943864e-05 9.99980200e-01 3.11689992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.571858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.32, Y:14.50, Z:0.31 [[ 8.96333717e-01 -4.43343698e-01 -5.67744228e-03 5.93179903e+01] [ 4.43335398e-01 8.96351694e-01 -2.71403644e-03 1.45046474e+01] [ 6.29223595e-03 -8.43287687e-05 9.99980200e-01 3.11917260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.601858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.34, Y:14.52, Z:0.31 [[ 8.96287288e-01 -4.43437476e-01 -5.68346148e-03 5.93439816e+01] [ 4.43429259e-01 8.96305302e-01 -2.70137254e-03 1.45162388e+01] [ 6.29200648e-03 -9.90072419e-05 9.99980200e-01 3.11420471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.631858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.37, Y:14.53, Z:0.31 [[ 8.96443642e-01 -4.43121319e-01 -5.68271811e-03 5.93694313e+01] [ 4.43113085e-01 8.96461649e-01 -2.70293543e-03 1.45250258e+01] [ 6.29206716e-03 -9.50574681e-05 9.99980200e-01 3.11805129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.661858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:59.40, Y:14.54, Z:0.31 [[ 8.96600838e-01 -4.42803170e-01 -5.68239554e-03 5.93955062e+01] [ 4.42794926e-01 8.96618840e-01 -2.70361339e-03 1.45355012e+01] [ 6.29211148e-03 -9.20738812e-05 9.99980200e-01 3.12759852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.691858064 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:59.42, Y:14.55, Z:0.31 [[ 8.96550917e-01 -4.42904295e-01 -5.67792310e-03 5.94211456e+01] [ 4.42895993e-01 8.96568892e-01 -2.71300960e-03 1.45461358e+01] [ 6.29225283e-03 -8.23781455e-05 9.99980200e-01 3.12991123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.45, Y:14.56, Z:0.31 [[ 8.97270391e-01 -4.41444864e-01 -5.68133731e-03 5.94480327e+01] [ 4.41436578e-01 8.97288374e-01 -2.70584093e-03 1.45556957e+01] [ 6.29227750e-03 -8.00791521e-05 9.99980200e-01 3.12095155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.751858064 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:59.47, Y:14.57, Z:0.31 [[ 8.97847319e-01 -4.40270285e-01 -5.68047118e-03 5.94745942e+01] [ 4.40261964e-01 8.97865286e-01 -2.70765828e-03 1.45669184e+01] [ 6.29239936e-03 -6.98316707e-05 9.99980200e-01 3.13285100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781858064 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:59.50, Y:14.58, Z:0.31 [[ 8.98470821e-01 -4.38996495e-01 -5.67986969e-03 5.95001710e+01] [ 4.38988141e-01 8.98488772e-01 -2.70891945e-03 1.45778460e+01] [ 6.29250529e-03 -5.95103531e-05 9.99980200e-01 3.14054753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.811858064 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:59.53, Y:14.59, Z:0.32 [[ 9.00957000e-01 -4.33871216e-01 -5.67910664e-03 5.95347098e+01] [ 4.33862750e-01 9.00974898e-01 -2.71051819e-03 1.45866058e+01] [ 6.29274835e-03 -2.18924853e-05 9.99980200e-01 3.15406773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84185806400001 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:59.56, Y:14.60, Z:0.32 [[ 9.01537162e-01 -4.32663826e-01 -5.72354704e-03 5.95567359e+01] [ 4.32655925e-01 9.01555323e-01 -2.61732362e-03 1.45982095e+01] [ 6.29251555e-03 -1.16712031e-04 9.99980195e-01 3.17890218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87185806400001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:59.58, Y:14.61, Z:0.32 [[ 9.02707484e-01 -4.30217099e-01 -5.69611551e-03 5.95847335e+01] [ 4.30208786e-01 9.02725455e-01 -2.67475887e-03 1.46085331e+01] [ 6.29275546e-03 -3.59940820e-05 9.99980200e-01 3.19037880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.901858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.61, Y:14.62, Z:0.32 [[ 9.02859949e-01 -4.29896890e-01 -5.70760161e-03 5.96081184e+01] [ 4.29888722e-01 9.02877987e-01 -2.65071373e-03 1.46194351e+01] [ 6.29280144e-03 -6.04103032e-05 9.99980198e-01 3.19691327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.931858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:59.63, Y:14.63, Z:0.32 [[ 9.03274343e-01 -4.29025672e-01 -5.69511684e-03 5.96337337e+01] [ 4.29017321e-01 9.03292296e-01 -2.67682168e-03 1.46304302e+01] [ 6.29278039e-03 -2.53994271e-05 9.99980200e-01 3.20142217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.961858064 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:59.66, Y:14.64, Z:0.32 [[ 9.04183711e-01 -4.27105852e-01 -5.69272125e-03 5.96573062e+01] [ 4.27097432e-01 9.04201632e-01 -2.68182855e-03 1.46399818e+01] [ 6.29279251e-03 -6.48093905e-06 9.99980200e-01 3.17618488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.991858064 meters Centerline goodness : 0.997319 Centerline is valid? [True, True] Translation: X:59.69, Y:14.65, Z:0.32 [[ 9.04685113e-01 -4.26043000e-01 -5.67524253e-03 5.96880449e+01] [ 4.26034330e-01 9.04702913e-01 -2.71832020e-03 1.46506035e+01] [ 6.29252974e-03 4.13756735e-05 9.99980201e-01 3.17041284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.021858064 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:59.71, Y:14.66, Z:0.32 [[ 9.04412616e-01 -4.26620801e-01 -5.70194643e-03 5.97138066e+01] [ 4.26612493e-01 9.04430590e-01 -2.66259208e-03 1.46618024e+01] [ 6.29293194e-03 -2.44397152e-05 9.99980199e-01 3.21125751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.051858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:59.74, Y:14.67, Z:0.32 [[ 9.04566207e-01 -4.26295161e-01 -5.69325420e-03 5.97361479e+01] [ 4.26286733e-01 9.04584123e-01 -2.68067961e-03 1.46717811e+01] [ 6.29278811e-03 -2.10654791e-06 9.99980200e-01 3.20183188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.081858064 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:59.76, Y:14.68, Z:0.32 [[ 9.04383072e-01 -4.26683849e-01 -5.67035802e-03 5.97639956e+01] [ 4.26675129e-01 9.04400846e-01 -2.72826646e-03 1.46800057e+01] [ 6.29238383e-03 4.79972553e-05 9.99980202e-01 3.20713389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.111858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:59.79, Y:14.69, Z:0.32 [[ 9.03529185e-01 -4.28489050e-01 -5.66969288e-03 5.97918094e+01] [ 4.28480357e-01 9.03546973e-01 -2.72964800e-03 1.46911038e+01] [ 6.29245812e-03 3.69646065e-05 9.99980202e-01 3.17495053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.82, Y:14.70, Z:0.32 [[ 9.03256672e-01 -4.29063183e-01 -5.67173204e-03 5.98179634e+01] [ 4.29054528e-01 9.03274479e-01 -2.72541460e-03 1.47010473e+01] [ 6.29250586e-03 2.82666074e-05 9.99980202e-01 3.18424549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.85, Y:14.71, Z:0.32 [[ 9.02923582e-01 -4.29763717e-01 -5.67040450e-03 5.98474530e+01] [ 4.29755058e-01 9.02941386e-01 -2.72816834e-03 1.47090789e+01] [ 6.29251066e-03 2.64425119e-05 9.99980202e-01 3.21225728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.87, Y:14.72, Z:0.32 [[ 9.02540543e-01 -4.30567444e-01 -5.67839068e-03 5.98728928e+01] [ 4.30558906e-01 9.02558406e-01 -2.71160786e-03 1.47190047e+01] [ 6.29260930e-03 2.45435328e-06 9.99980201e-01 3.19769435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.90, Y:14.73, Z:0.32 [[ 9.02589301e-01 -4.30465250e-01 -5.67641113e-03 5.99013339e+01] [ 4.30456684e-01 9.02607151e-01 -2.71570921e-03 1.47291781e+01] [ 6.29258772e-03 7.72096332e-06 9.99980201e-01 3.23048565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.93, Y:14.74, Z:0.32 [[ 9.01841182e-01 -4.32030269e-01 -5.68588346e-03 5.99271262e+01] [ 4.32021858e-01 9.01859105e-01 -2.69608970e-03 1.47368433e+01] [ 6.29265813e-03 -2.49812127e-05 9.99980201e-01 3.19927019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.291858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:59.96, Y:14.75, Z:0.32 [[ 9.01585594e-01 -4.32563537e-01 -5.67485588e-03 5.99559017e+01] [ 4.32554992e-01 9.01603453e-01 -2.71891451e-03 1.47468961e+01] [ 6.29257293e-03 -3.35308869e-06 9.99980202e-01 3.22826947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.98, Y:14.76, Z:0.32 [[ 9.01237810e-01 -4.33287616e-01 -5.67896059e-03 5.99834648e+01] [ 4.33279139e-01 9.01255702e-01 -2.71042230e-03 1.47574107e+01] [ 6.29258803e-03 -1.78400988e-05 9.99980201e-01 3.24242331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.01, Y:14.77, Z:0.32 [[ 9.00669828e-01 -4.34467012e-01 -5.68122141e-03 6.00088119e+01] [ 4.34458588e-01 9.00687745e-01 -2.70574651e-03 1.47671919e+01] [ 6.29256410e-03 -3.12711842e-05 9.99980201e-01 3.24562242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.04, Y:14.77, Z:0.33 [[ 8.99830600e-01 -4.36202541e-01 -5.67750313e-03 6.00391895e+01] [ 4.36194103e-01 8.99848511e-01 -2.71343572e-03 1.47740024e+01] [ 6.29250029e-03 -3.48608896e-05 9.99980201e-01 3.26107330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.411858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:60.06, Y:14.79, Z:0.33 [[ 8.98581989e-01 -4.38768674e-01 -5.69730496e-03 6.00641104e+01] [ 4.38760546e-01 8.98600045e-01 -2.67249252e-03 1.47852390e+01] [ 6.29220449e-03 -9.82989937e-05 9.99980199e-01 3.25852172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.441858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:60.09, Y:14.80, Z:0.33 [[ 8.98413991e-01 -4.39112783e-01 -5.68015015e-03 6.00898132e+01] [ 4.39104438e-01 8.98431945e-01 -2.70786474e-03 1.47978609e+01] [ 6.29228637e-03 -6.13955731e-05 9.99980201e-01 3.26016650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.471858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.12, Y:14.81, Z:0.33 [[ 8.98514295e-01 -4.38907528e-01 -5.67838685e-03 6.01204194e+01] [ 4.38899156e-01 8.98532236e-01 -2.71150031e-03 1.48079431e+01] [ 6.29231153e-03 -5.59174034e-05 9.99980202e-01 3.27670888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:14.82, Z:0.33 [[ 8.97416670e-01 -4.41147177e-01 -5.69976849e-03 6.01422407e+01] [ 4.41139130e-01 8.97434763e-01 -2.66739653e-03 1.48157982e+01] [ 6.29188483e-03 -1.20624802e-04 9.99980199e-01 3.26140540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:14.83, Z:0.32 [[ 8.97134150e-01 -4.41721947e-01 -5.66030989e-03 6.01681720e+01] [ 4.41713397e-01 8.97152005e-01 -2.74865378e-03 1.48262733e+01] [ 6.29229907e-03 -3.43235380e-05 9.99980203e-01 3.23097078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.19, Y:14.84, Z:0.33 [[ 8.97003203e-01 -4.41987802e-01 -5.66007893e-03 6.01939050e+01] [ 4.41979253e-01 8.97021060e-01 -2.74912930e-03 1.48369822e+01] [ 6.29229161e-03 -3.56596675e-05 9.99980203e-01 3.26639599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.23, Y:14.85, Z:0.33 [[ 8.97222916e-01 -4.41541631e-01 -5.65930767e-03 6.02250553e+01] [ 4.41533063e-01 8.97240763e-01 -2.75071607e-03 1.48482020e+01] [ 6.29231720e-03 -3.07659588e-05 9.99980203e-01 3.25864998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62185806400001 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:60.25, Y:14.86, Z:0.32 [[ 8.96952385e-01 -4.42090543e-01 -5.68947198e-03 6.02488835e+01] [ 4.42082380e-01 8.96970424e-01 -2.68852737e-03 1.48594610e+01] [ 6.29186061e-03 -1.03734274e-04 9.99980201e-01 3.22789137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.27, Y:14.87, Z:0.32 [[ 8.95819712e-01 -4.44381248e-01 -5.68767722e-03 6.02723737e+01] [ 4.44373107e-01 8.95837761e-01 -2.69222812e-03 1.48722533e+01] [ 6.29161172e-03 -1.15699781e-04 9.99980201e-01 3.23067061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.681858064 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:60.30, Y:14.88, Z:0.32 [[ 8.96906524e-01 -4.42183709e-01 -5.67938082e-03 6.03005877e+01] [ 4.42175416e-01 8.96924501e-01 -2.70931552e-03 1.48819491e+01] [ 6.29199099e-03 -8.12798068e-05 9.99980202e-01 3.23871514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.32, Y:14.89, Z:0.33 [[ 8.96554257e-01 -4.42897393e-01 -5.68895000e-03 6.03212805e+01] [ 4.42889239e-01 8.96572299e-01 -2.68961275e-03 1.48936466e+01] [ 6.29177745e-03 -1.08190980e-04 9.99980201e-01 3.26520541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.35, Y:14.91, Z:0.32 [[ 8.96536213e-01 -4.42934308e-01 -5.65846057e-03 6.03482331e+01] [ 4.42925759e-01 8.96554068e-01 -2.75229617e-03 1.49073947e+01] [ 6.29220224e-03 -3.87447568e-05 9.99980203e-01 3.23179954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:14.92, Z:0.32 [[ 8.96712726e-01 -4.42576761e-01 -5.66546803e-03 6.03735313e+01] [ 4.42568295e-01 8.96730622e-01 -2.73789083e-03 1.49201534e+01] [ 6.29212552e-03 -5.22549828e-05 9.99980203e-01 3.24642074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.40, Y:14.93, Z:0.33 [[ 8.97281522e-01 -4.41422352e-01 -5.67243610e-03 6.03959109e+01] [ 4.41413954e-01 8.97299450e-01 -2.72356543e-03 1.49328192e+01] [ 6.29211645e-03 -6.00875133e-05 9.99980203e-01 3.25370638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.831858064 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:60.42, Y:14.95, Z:0.32 [[ 8.97595099e-01 -4.40784560e-01 -5.65765148e-03 6.04210649e+01] [ 4.40775958e-01 8.97612929e-01 -2.75393874e-03 1.49482404e+01] [ 6.29227480e-03 -2.18348338e-05 9.99980203e-01 3.21841752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:14.96, Z:0.32 [[ 8.97672167e-01 -4.40627628e-01 -5.65456362e-03 6.04459915e+01] [ 4.40618982e-01 8.97689976e-01 -2.76027930e-03 1.49609612e+01] [ 6.29230040e-03 -1.36821641e-05 9.99980203e-01 3.24841430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.47, Y:14.97, Z:0.33 [[ 8.97461880e-01 -4.41055754e-01 -5.65658007e-03 6.04712014e+01] [ 4.41047142e-01 8.97479706e-01 -2.75614083e-03 1.49744139e+01] [ 6.29227758e-03 -2.12871477e-05 9.99980203e-01 3.25510446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.50, Y:14.99, Z:0.32 [[ 8.96880557e-01 -4.42236675e-01 -5.65590859e-03 6.04950017e+01] [ 4.42228079e-01 8.96898390e-01 -2.75751809e-03 1.49881447e+01] [ 6.29225094e-03 -2.80372244e-05 9.99980203e-01 3.21957981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.52, Y:15.00, Z:0.33 [[ 8.96304385e-01 -4.43403458e-01 -5.64112609e-03 6.05211218e+01] [ 4.43394694e-01 8.96322137e-01 -2.78781478e-03 1.50005437e+01] [ 6.29239290e-03 -2.51475767e-06 9.99980203e-01 3.25126174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.55, Y:15.01, Z:0.32 [[ 8.95291866e-01 -4.45444158e-01 -5.65479184e-03 6.05463354e+01] [ 4.45435611e-01 8.95309723e-01 -2.75981400e-03 1.50126592e+01] [ 6.29213314e-03 -4.80066379e-05 9.99980203e-01 3.22776504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.57, Y:15.03, Z:0.32 [[ 8.94365783e-01 -4.47300614e-01 -5.65741127e-03 6.05744608e+01] [ 4.47292138e-01 8.94383674e-01 -2.75445000e-03 1.50259101e+01] [ 6.29196345e-03 -6.70297511e-05 9.99980203e-01 3.24647903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.60, Y:15.04, Z:0.32 [[ 8.93832218e-01 -4.48365683e-01 -5.67269291e-03 6.05998705e+01] [ 4.48357427e-01 8.93850212e-01 -2.72315360e-03 1.50375337e+01] [ 6.29150639e-03 -1.09351573e-04 9.99980202e-01 3.24374676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.62, Y:15.05, Z:0.32 [[ 8.91467940e-01 -4.53048226e-01 -5.67597105e-03 6.06206547e+01] [ 4.53040106e-01 8.91485997e-01 -2.71644233e-03 1.50514207e+01] [ 6.29072809e-03 -1.49821284e-04 9.99980202e-01 3.24352631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.101858064 meters Centerline goodness : 0.996607 Centerline is valid? [True, True] Translation: X:60.65, Y:15.07, Z:0.32 [[ 8.90441260e-01 -4.55063140e-01 -5.64809897e-03 6.06456948e+01] [ 4.55054700e-01 8.90459167e-01 -2.77338288e-03 1.50650853e+01] [ 6.29146583e-03 -1.00659437e-04 9.99980203e-01 3.20562480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.67, Y:15.08, Z:0.32 [[ 8.90010819e-01 -4.55904388e-01 -5.65072976e-03 6.06703788e+01] [ 4.55895999e-01 8.90028750e-01 -2.76801089e-03 1.50782884e+01] [ 6.29126026e-03 -1.12585444e-04 9.99980203e-01 3.21583733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.70, Y:15.09, Z:0.32 [[ 8.89521878e-01 -4.56857749e-01 -5.64149815e-03 6.06963069e+01] [ 4.56849259e-01 8.89539762e-01 -2.78686326e-03 1.50916360e+01] [ 6.29153700e-03 -9.83384053e-05 9.99980203e-01 3.19618290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.72, Y:15.10, Z:0.32 [[ 8.89486822e-01 -4.56926023e-01 -5.63943597e-03 6.07225797e+01] [ 4.56917508e-01 8.89504694e-01 -2.79107606e-03 1.51049218e+01] [ 6.29162005e-03 -9.41316599e-05 9.99980203e-01 3.21754049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.75, Y:15.12, Z:0.32 [[ 8.90138420e-01 -4.55655195e-01 -5.65127776e-03 6.07486893e+01] [ 4.55646807e-01 8.90156352e-01 -2.76688960e-03 1.51183646e+01] [ 6.29126842e-03 -1.12071932e-04 9.99980203e-01 3.22227594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.77, Y:15.13, Z:0.32 [[ 8.89861804e-01 -4.56195106e-01 -5.65647128e-03 6.07728149e+01] [ 4.56186797e-01 8.89879772e-01 -2.75628429e-03 1.51326431e+01] [ 6.29098278e-03 -1.27695410e-04 9.99980203e-01 3.21682867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.80, Y:15.14, Z:0.32 [[ 8.91116247e-01 -4.53739914e-01 -5.65026765e-03 6.08003305e+01] [ 4.53731475e-01 8.91134154e-01 -2.76894333e-03 1.51448018e+01] [ 6.29152659e-03 -9.62538891e-05 9.99980204e-01 3.23227837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.82, Y:15.16, Z:0.32 [[ 8.91329475e-01 -4.53320761e-01 -5.66171293e-03 6.08212805e+01] [ 4.53312462e-01 8.91347448e-01 -2.74557367e-03 1.51576646e+01] [ 6.29117892e-03 -1.19314288e-04 9.99980203e-01 3.21695422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.85, Y:15.17, Z:0.32 [[ 8.91236646e-01 -4.53503590e-01 -5.63331062e-03 6.08468873e+01] [ 4.53494928e-01 8.91254448e-01 -2.80350494e-03 1.51703236e+01] [ 6.29211270e-03 -5.60914520e-05 9.99980203e-01 3.21849574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.88, Y:15.18, Z:0.32 [[ 8.91787816e-01 -4.52418798e-01 -5.63231418e-03 6.08769404e+01] [ 4.52410101e-01 8.91805601e-01 -2.80553602e-03 1.51835582e+01] [ 6.29220656e-03 -4.61729855e-05 9.99980203e-01 3.22849527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.90, Y:15.20, Z:0.32 [[ 8.91112188e-01 -4.53747642e-01 -5.66976123e-03 6.08981548e+01] [ 4.53739456e-01 8.91130214e-01 -2.72918510e-03 1.51981078e+01] [ 6.29085684e-03 -1.40584273e-04 9.99980202e-01 3.23982327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.92, Y:15.21, Z:0.32 [[ 8.91460257e-01 -4.53063694e-01 -5.64795082e-03 6.09226762e+01] [ 4.53055212e-01 8.91478144e-01 -2.77359824e-03 1.52114017e+01] [ 6.29164138e-03 -8.62809570e-05 9.99980204e-01 3.23734040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.95, Y:15.23, Z:0.32 [[ 8.91539145e-01 -4.52908504e-01 -5.64272298e-03 6.09464751e+01] [ 4.52899952e-01 8.91556999e-01 -2.78423578e-03 1.52254019e+01] [ 6.29181323e-03 -7.33337776e-05 9.99980204e-01 3.20823868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.97, Y:15.24, Z:0.32 [[ 8.91355602e-01 -4.53269570e-01 -5.64697092e-03 6.09717801e+01] [ 4.53261080e-01 8.91373485e-01 -2.77559331e-03 1.52384056e+01] [ 6.29165214e-03 -8.55114961e-05 9.99980204e-01 3.20420954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.521858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.00, Y:15.25, Z:0.32 [[ 8.91110891e-01 -4.53750482e-01 -5.64621828e-03 6.09968886e+01] [ 4.53741992e-01 8.91128774e-01 -2.77712352e-03 1.52512146e+01] [ 6.29162871e-03 -8.72013117e-05 9.99980204e-01 3.20456948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.02, Y:15.26, Z:0.32 [[ 8.90736826e-01 -4.54484361e-01 -5.64546885e-03 6.10218053e+01] [ 4.54475876e-01 8.90754712e-01 -2.77864617e-03 1.52632836e+01] [ 6.29157921e-03 -9.06869265e-05 9.99980204e-01 3.20667329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.05, Y:15.28, Z:0.32 [[ 8.90372054e-01 -4.55198575e-01 -5.64468531e-03 6.10467585e+01] [ 4.55190094e-01 8.90389942e-01 -2.78023697e-03 1.52757160e+01] [ 6.29153094e-03 -9.39595308e-05 9.99980204e-01 3.21176747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.07, Y:15.29, Z:0.32 [[ 8.90264873e-01 -4.55408170e-01 -5.64390382e-03 6.10716301e+01] [ 4.55399684e-01 8.90282758e-01 -2.78182250e-03 1.52879223e+01] [ 6.29153496e-03 -9.36731566e-05 9.99980204e-01 3.21661314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.10, Y:15.30, Z:0.32 [[ 8.90334140e-01 -4.55272748e-01 -5.64311795e-03 6.10953115e+01] [ 4.55264248e-01 8.90352018e-01 -2.78341579e-03 1.53001756e+01] [ 6.29157481e-03 -9.09397468e-05 9.99980204e-01 3.22826255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.671858064 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:61.13, Y:15.31, Z:0.32 [[ 8.90444452e-01 -4.55057033e-01 -5.63691659e-03 6.11255496e+01] [ 4.55048450e-01 8.90462291e-01 -2.79597969e-03 1.53126207e+01] [ 6.29179188e-03 -7.54055491e-05 9.99980204e-01 3.20688982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.15, Y:15.33, Z:0.32 [[ 8.90012296e-01 -4.55901170e-01 -5.67771031e-03 6.11455730e+01] [ 4.55893129e-01 8.90030389e-01 -2.71325742e-03 1.53255199e+01] [ 6.29031195e-03 -1.73596652e-04 9.99980201e-01 3.21909302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.17, Y:15.34, Z:0.32 [[ 8.89900111e-01 -4.56120558e-01 -5.64172820e-03 6.11708870e+01] [ 4.56112059e-01 8.89917989e-01 -2.78611912e-03 1.53381274e+01] [ 6.29148163e-03 -9.38925492e-05 9.99980204e-01 3.21479045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.761858064 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:61.20, Y:15.35, Z:0.32 [[ 8.89967837e-01 -4.55988408e-01 -5.64096253e-03 6.11994325e+01] [ 4.55979896e-01 8.89985710e-01 -2.78766850e-03 1.53506872e+01] [ 6.29152056e-03 -9.12302044e-05 9.99980204e-01 3.19401473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.22, Y:15.36, Z:0.32 [[ 8.89891958e-01 -4.56136179e-01 -5.66480859e-03 6.12210879e+01] [ 4.56127976e-01 8.89909976e-01 -2.73939816e-03 1.53634485e+01] [ 6.29070829e-03 -1.46109285e-04 9.99980203e-01 3.21710390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.24, Y:15.38, Z:0.32 [[ 8.89996335e-01 -4.55932798e-01 -5.63978363e-03 6.12448169e+01] [ 4.55924270e-01 8.90014200e-01 -2.78998461e-03 1.53760829e+01] [ 6.29153301e-03 -8.82381570e-05 9.99980204e-01 3.22363036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.27, Y:15.39, Z:0.32 [[ 8.90294141e-01 -4.55351007e-01 -5.63945112e-03 6.12686003e+01] [ 4.55342463e-01 8.90311998e-01 -2.79065657e-03 1.53890417e+01] [ 6.29159927e-03 -8.33763697e-05 9.99980204e-01 3.23264869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:15.40, Z:0.32 [[ 8.90673758e-01 -4.54608026e-01 -5.63912211e-03 6.12970098e+01] [ 4.54599463e-01 8.90691606e-01 -2.79132124e-03 1.54011421e+01] [ 6.29167577e-03 -7.73853052e-05 9.99980204e-01 3.23424921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.32, Y:15.41, Z:0.32 [[ 8.90989322e-01 -4.53988928e-01 -5.66401913e-03 6.13183616e+01] [ 4.53980672e-01 8.91007316e-01 -2.74100395e-03 1.54136899e+01] [ 6.29106793e-03 -1.29149958e-04 9.99980203e-01 3.24561947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.34, Y:15.43, Z:0.32 [[ 8.92157336e-01 -4.51689605e-01 -5.63822856e-03 6.13423839e+01] [ 4.51680972e-01 8.92175150e-01 -2.79306618e-03 1.54264206e+01] [ 6.29188636e-03 -5.48260766e-05 9.99980204e-01 3.23964337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.971858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.37, Y:15.44, Z:0.32 [[ 8.92780252e-01 -4.50457141e-01 -5.63789057e-03 6.13675988e+01] [ 4.50448479e-01 8.92798052e-01 -2.79374825e-03 1.54397299e+01] [ 6.29196157e-03 -4.53759618e-05 9.99980204e-01 3.23680318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.39, Y:15.45, Z:0.32 [[ 8.94147175e-01 -4.47737705e-01 -5.63710575e-03 6.13909148e+01] [ 4.47728979e-01 8.94164944e-01 -2.79533092e-03 1.54527040e+01] [ 6.29207740e-03 -2.44583617e-05 9.99980204e-01 3.24122264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.031858064 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:61.42, Y:15.47, Z:0.32 [[ 8.94554269e-01 -4.46923805e-01 -5.63676569e-03 6.14176201e+01] [ 4.46915059e-01 8.94572027e-01 -2.79601648e-03 1.54668435e+01] [ 6.29209924e-03 -1.79669952e-05 9.99980204e-01 3.23477823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.44, Y:15.48, Z:0.32 [[ 8.95353381e-01 -4.45320622e-01 -5.64504939e-03 6.14425866e+01] [ 4.45311949e-01 8.95371176e-01 -2.77931977e-03 1.54799555e+01] [ 6.29210292e-03 -2.53345965e-05 9.99980204e-01 3.23712550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.47, Y:15.49, Z:0.32 [[ 8.95962145e-01 -4.44094665e-01 -5.63578199e-03 6.14670794e+01] [ 4.44085851e-01 8.95979870e-01 -2.79798642e-03 1.54925480e+01] [ 6.29211806e-03 4.11886845e-06 9.99980204e-01 3.24081608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12185806400001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.49, Y:15.50, Z:0.33 [[ 8.96769157e-01 -4.42462791e-01 -5.63543948e-03 6.14920061e+01] [ 4.42453940e-01 8.96786863e-01 -2.79867611e-03 1.55047477e+01] [ 6.29209814e-03 1.63440133e-05 9.99980204e-01 3.25111761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.151858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.52, Y:15.52, Z:0.33 [[ 8.96811585e-01 -4.42376798e-01 -5.63464515e-03 6.15171784e+01] [ 4.42367935e-01 8.96829286e-01 -2.80027444e-03 1.55174768e+01] [ 6.29209123e-03 1.87322203e-05 9.99980204e-01 3.25518021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.181858064 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:61.54, Y:15.53, Z:0.33 [[ 8.96263560e-01 -4.43486066e-01 -5.63385105e-03 6.15442425e+01] [ 4.43477215e-01 8.96281267e-01 -2.80187117e-03 1.55314795e+01] [ 6.29210598e-03 1.27304576e-05 9.99980204e-01 3.25362674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.211858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.57, Y:15.54, Z:0.33 [[ 8.96165573e-01 -4.43683912e-01 -5.64372921e-03 6.15678848e+01] [ 4.43675190e-01 8.96183344e-01 -2.78201543e-03 1.55433749e+01] [ 6.29215160e-03 -1.08361755e-05 9.99980204e-01 3.25773953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.59, Y:15.56, Z:0.33 [[ 8.94904269e-01 -4.46222615e-01 -5.63272064e-03 6.15932152e+01] [ 4.46213804e-01 8.94921995e-01 -2.80412860e-03 1.55551875e+01] [ 6.29211119e-03 -3.97105232e-06 9.99980204e-01 3.25389462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.62, Y:15.57, Z:0.33 [[ 8.94105225e-01 -4.47821536e-01 -5.63193397e-03 6.16189349e+01] [ 4.47812747e-01 8.94122962e-01 -2.80570770e-03 1.55674479e+01] [ 6.29209782e-03 -1.34539135e-05 9.99980204e-01 3.25604149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.64, Y:15.58, Z:0.32 [[ 8.91893884e-01 -4.52209674e-01 -5.63114705e-03 6.16411757e+01] [ 4.52200963e-01 8.91911660e-01 -2.80728618e-03 1.55819352e+01] [ 6.29196768e-03 -4.26087385e-05 9.99980204e-01 3.23236877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.67, Y:15.60, Z:0.32 [[ 8.90465262e-01 -4.55016633e-01 -5.61084032e-03 6.16672882e+01] [ 4.55007720e-01 8.90482938e-01 -2.84798826e-03 1.55952860e+01] [ 6.29223960e-03 -1.69410480e-05 9.99980204e-01 3.24043477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.361858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.70, Y:15.61, Z:0.33 [[ 8.91585549e-01 -4.52817463e-01 -5.61733604e-03 6.16956770e+01] [ 4.52808589e-01 8.91603244e-01 -2.83497601e-03 1.56063203e+01] [ 6.29216168e-03 -1.59543645e-05 9.99980204e-01 3.26606071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.391858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.72, Y:15.62, Z:0.33 [[ 8.91462597e-01 -4.53059316e-01 -5.62975064e-03 6.17212237e+01] [ 4.53050603e-01 8.91480372e-01 -2.81010467e-03 1.56191501e+01] [ 6.29195630e-03 -4.54587153e-05 9.99980204e-01 3.26796661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.75, Y:15.63, Z:0.33 [[ 8.90612557e-01 -4.54728037e-01 -5.62898739e-03 6.17458325e+01] [ 4.54719348e-01 8.90630344e-01 -2.81163272e-03 1.56322424e+01] [ 6.29187520e-03 -5.55340726e-05 9.99980204e-01 3.26713064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.77, Y:15.65, Z:0.33 [[ 8.89195640e-01 -4.57492554e-01 -5.62819563e-03 6.17697850e+01] [ 4.57483910e-01 8.89213449e-01 -2.81321674e-03 1.56453476e+01] [ 6.29169296e-03 -7.33088859e-05 9.99980204e-01 3.26695313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.79, Y:15.66, Z:0.32 [[ 8.86616740e-01 -4.62470630e-01 -5.62785340e-03 6.17912874e+01] [ 4.62462082e-01 8.86634595e-01 -2.81390122e-03 1.56609124e+01] [ 6.29119618e-03 -1.07816876e-04 9.99980204e-01 3.24157257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.82, Y:15.67, Z:0.33 [[ 8.86823621e-01 -4.62074118e-01 -5.60128327e-03 6.18216178e+01] [ 4.62065226e-01 8.86841309e-01 -2.86698672e-03 1.56715546e+01] [ 6.29220975e-03 -4.56466802e-05 9.99980203e-01 3.27194793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.85, Y:15.69, Z:0.33 [[ 8.85329011e-01 -4.64931043e-01 -5.62741183e-03 6.18494031e+01] [ 4.64922539e-01 8.85346887e-01 -2.81474898e-03 1.56862033e+01] [ 6.29087573e-03 -1.24331663e-04 9.99980205e-01 3.26763404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.571858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.87, Y:15.70, Z:0.32 [[ 8.82937411e-01 -4.69456744e-01 -5.64736255e-03 6.18704305e+01] [ 4.69448587e-01 8.82955449e-01 -2.77484235e-03 1.57024571e+01] [ 6.28903799e-03 -2.01134240e-04 9.99980204e-01 3.24085814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.90, Y:15.71, Z:0.33 [[ 8.84985065e-01 -4.65585410e-01 -5.62676924e-03 6.18972803e+01] [ 4.65576911e-01 8.85002944e-01 -2.81598630e-03 1.57130281e+01] [ 6.29078947e-03 -1.27588019e-04 9.99980205e-01 3.26966764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.631858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.92, Y:15.73, Z:0.33 [[ 8.84648840e-01 -4.66223958e-01 -5.62595063e-03 6.19214811e+01] [ 4.66215462e-01 8.84666719e-01 -2.81762081e-03 1.57277889e+01] [ 6.29073362e-03 -1.30300195e-04 9.99980205e-01 3.26781654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.94, Y:15.74, Z:0.32 [[ 8.82182510e-01 -4.70874055e-01 -5.62516601e-03 6.19409808e+01] [ 4.70865643e-01 8.82200430e-01 -2.81918637e-03 1.57444624e+01] [ 6.29000559e-03 -1.61660501e-04 9.99980205e-01 3.22544819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.691858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.97, Y:15.76, Z:0.32 [[ 8.82070579e-01 -4.71084138e-01 -5.58828627e-03 6.19654896e+01] [ 4.71075263e-01 8.82088277e-01 -2.89268437e-03 1.57582869e+01] [ 6.29205953e-03 -8.09516481e-05 9.99980202e-01 3.23312280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.00, Y:15.77, Z:0.33 [[ 8.83506481e-01 -4.68385590e-01 -5.58890989e-03 6.19979107e+01] [ 4.68376670e-01 8.83524156e-01 -2.89144548e-03 1.57709033e+01] [ 6.29224829e-03 -6.31041838e-05 9.99980202e-01 3.27438629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.02, Y:15.78, Z:0.33 [[ 8.84052694e-01 -4.67353276e-01 -5.63470653e-03 6.20212502e+01] [ 4.67344912e-01 8.84070637e-01 -2.80037041e-03 1.57839865e+01] [ 6.29024088e-03 -1.57676423e-04 9.99980204e-01 3.27822988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:62.05, Y:15.80, Z:0.33 [[ 8.84189160e-01 -4.67095214e-01 -5.62053212e-03 6.20458384e+01] [ 4.67086666e-01 8.84207015e-01 -2.82853613e-03 1.57981403e+01] [ 6.29090962e-03 -1.24314618e-04 9.99980204e-01 3.27672136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.811858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:62.07, Y:15.81, Z:0.33 [[ 8.84928363e-01 -4.65693181e-01 -5.62612816e-03 6.20686588e+01] [ 4.65684675e-01 8.84946239e-01 -2.81741714e-03 1.58135001e+01] [ 6.29087290e-03 -1.26789325e-04 9.99980204e-01 3.27005251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.09, Y:15.83, Z:0.33 [[ 8.85213746e-01 -4.65150561e-01 -5.61952220e-03 6.20942864e+01] [ 4.65141962e-01 8.85231576e-01 -2.83053212e-03 1.58279860e+01] [ 6.29120209e-03 -1.08249640e-04 9.99980204e-01 3.27006935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.871858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.12, Y:15.84, Z:0.33 [[ 8.85374380e-01 -4.64844717e-01 -5.62105401e-03 6.21198300e+01] [ 4.64836131e-01 8.85392216e-01 -2.82749197e-03 1.58421729e+01] [ 6.29118218e-03 -1.09480050e-04 9.99980204e-01 3.27397233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.901858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.14, Y:15.86, Z:0.33 [[ 8.86428488e-01 -4.62831359e-01 -5.62751340e-03 6.21422629e+01] [ 4.62822814e-01 8.86446344e-01 -2.81467648e-03 1.58573656e+01] [ 6.29120922e-03 -1.09532168e-04 9.99980204e-01 3.28695769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.17, Y:15.87, Z:0.33 [[ 8.86577382e-01 -4.62546203e-01 -5.61753337e-03 6.21669227e+01] [ 4.62537526e-01 8.86595174e-01 -2.83445564e-03 1.58724178e+01] [ 6.29154467e-03 -8.53557232e-05 9.99980204e-01 3.27292121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.19, Y:15.89, Z:0.33 [[ 8.86360188e-01 -4.62962236e-01 -5.62013587e-03 6.21894983e+01] [ 4.62953600e-01 8.86378000e-01 -2.82930010e-03 1.58877449e+01] [ 6.29142390e-03 -9.40831690e-05 9.99980204e-01 3.26465929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.991858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.21, Y:15.90, Z:0.33 [[ 8.87699737e-01 -4.60388642e-01 -5.61027426e-03 6.22138435e+01] [ 4.60379831e-01 8.87717464e-01 -2.84881677e-03 1.59019717e+01] [ 6.29190132e-03 -5.39632199e-05 9.99980204e-01 3.27180108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.021858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.24, Y:15.92, Z:0.32 [[ 8.86397749e-01 -4.62890371e-01 -5.61565720e-03 6.22356971e+01] [ 4.62881678e-01 8.86415533e-01 -2.83816595e-03 1.59170844e+01] [ 6.29156546e-03 -8.36409194e-05 9.99980204e-01 3.24565565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.051858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.26, Y:15.93, Z:0.33 [[ 8.87844771e-01 -4.60109045e-01 -5.59722288e-03 6.22633404e+01] [ 4.60100066e-01 8.87862414e-01 -2.87461173e-03 1.59293101e+01] [ 6.29219868e-03 -2.30736235e-05 9.99980204e-01 3.26587638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.29, Y:15.94, Z:0.33 [[ 8.87911938e-01 -4.59979202e-01 -5.61468383e-03 6.22872792e+01] [ 4.59970438e-01 8.87929688e-01 -2.84009255e-03 1.59434578e+01] [ 6.29182796e-03 -6.08365056e-05 9.99980204e-01 3.27168809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.111858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.31, Y:15.96, Z:0.33 [[ 8.87708630e-01 -4.60371477e-01 -5.61168944e-03 6.23115010e+01] [ 4.60362684e-01 8.87726365e-01 -2.84600926e-03 1.59573376e+01] [ 6.29186616e-03 -5.69854300e-05 9.99980204e-01 3.27746709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.33, Y:15.97, Z:0.32 [[ 8.86595035e-01 -4.62512412e-01 -5.61362119e-03 6.23341501e+01] [ 4.62503685e-01 8.86612803e-01 -2.84219385e-03 1.59728341e+01] [ 6.29165836e-03 -7.64455329e-05 9.99980204e-01 3.24772206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.36, Y:15.99, Z:0.33 [[ 8.87477046e-01 -4.60817930e-01 -5.59709030e-03 6.23600818e+01] [ 4.60808964e-01 8.87494695e-01 -2.87481520e-03 1.59876596e+01] [ 6.29215435e-03 -2.78568770e-05 9.99980204e-01 3.27129197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.38, Y:16.00, Z:0.32 [[ 8.86483516e-01 -4.62726132e-01 -5.61271162e-03 6.23838275e+01] [ 4.62717399e-01 8.86501281e-01 -2.84398597e-03 1.60021388e+01] [ 6.29166267e-03 -7.59526356e-05 9.99980204e-01 3.24722465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.41, Y:16.02, Z:0.33 [[ 8.86227730e-01 -4.63215895e-01 -5.60755512e-03 6.24084458e+01] [ 4.63207107e-01 8.86245468e-01 -2.85416063e-03 1.60158843e+01] [ 6.29176288e-03 -6.80230889e-05 9.99980204e-01 3.25522580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.261858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.43, Y:16.03, Z:0.33 [[ 8.86816598e-01 -4.62087596e-01 -5.60140855e-03 6.24346948e+01] [ 4.62078708e-01 8.86834286e-01 -2.86626987e-03 1.60288061e+01] [ 6.29198891e-03 -4.64359353e-05 9.99980204e-01 3.28106935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.291858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.46, Y:16.04, Z:0.33 [[ 8.86518595e-01 -4.62658872e-01 -5.61685392e-03 6.24590511e+01] [ 4.62650188e-01 8.86536385e-01 -2.83584525e-03 1.60436441e+01] [ 6.29157433e-03 -8.46089789e-05 9.99980204e-01 3.27835411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.321858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.48, Y:16.06, Z:0.33 [[ 8.86357182e-01 -4.62968116e-01 -5.60965830e-03 6.24830112e+01] [ 4.62959350e-01 8.86374931e-01 -2.85000835e-03 1.60571748e+01] [ 6.29172348e-03 -7.09183830e-05 9.99980204e-01 3.27538686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.351858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.51, Y:16.07, Z:0.33 [[ 8.86099031e-01 -4.63462008e-01 -5.61012995e-03 6.25068981e+01] [ 4.63453257e-01 8.86116788e-01 -2.84908024e-03 1.60726236e+01] [ 6.29167078e-03 -7.54657577e-05 9.99980204e-01 3.26857441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.381858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:62.53, Y:16.09, Z:0.33 [[ 8.86101965e-01 -4.63456418e-01 -5.60853889e-03 6.25319370e+01] [ 4.63447647e-01 8.86119712e-01 -2.85220887e-03 1.60863880e+01] [ 6.29171137e-03 -7.19162663e-05 9.99980204e-01 3.26704145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.56, Y:16.10, Z:0.33 [[ 8.86029344e-01 -4.63595248e-01 -5.60775197e-03 6.25576540e+01] [ 4.63586470e-01 8.86047087e-01 -2.85375520e-03 1.61002835e+01] [ 6.29171965e-03 -7.11670897e-05 9.99980204e-01 3.27939591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.58, Y:16.11, Z:0.33 [[ 8.86138710e-01 -4.63386103e-01 -5.61300278e-03 6.25823901e+01] [ 4.63377386e-01 8.86156483e-01 -2.84343826e-03 1.61144205e+01] [ 6.29160858e-03 -8.12578467e-05 9.99980204e-01 3.28030439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.471858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.61, Y:16.13, Z:0.33 [[ 8.86202679e-01 -4.63263742e-01 -5.61398141e-03 6.26066425e+01] [ 4.63255035e-01 8.86220457e-01 -2.84151618e-03 1.61274571e+01] [ 6.29159659e-03 -8.25459084e-05 9.99980204e-01 3.26101743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.63, Y:16.14, Z:0.33 [[ 8.86119670e-01 -4.63422591e-01 -5.60640470e-03 6.26310590e+01] [ 4.63413793e-01 8.86137403e-01 -2.85638745e-03 1.61414491e+01] [ 6.29175938e-03 -6.69841630e-05 9.99980204e-01 3.27986372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.66, Y:16.15, Z:0.33 [[ 8.86288591e-01 -4.63099422e-01 -5.60881491e-03 6.26554812e+01] [ 4.63090647e-01 8.86306336e-01 -2.85165878e-03 1.61549479e+01] [ 6.29172972e-03 -6.99970821e-05 9.99980204e-01 3.27197914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.68, Y:16.17, Z:0.33 [[ 8.86276887e-01 -4.63121910e-01 -5.60142984e-03 6.26787129e+01] [ 4.63113044e-01 8.86294586e-01 -2.86613977e-03 1.61680354e+01] [ 6.29188906e-03 -5.39017875e-05 9.99980204e-01 3.26624464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:16.18, Z:0.33 [[ 8.85611731e-01 -4.64392656e-01 -5.59665699e-03 6.27048019e+01] [ 4.64383756e-01 8.85629414e-01 -2.87549496e-03 1.61814294e+01] [ 6.29192279e-03 -5.24245226e-05 9.99980204e-01 3.27517012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.72, Y:16.20, Z:0.32 [[ 8.81940940e-01 -4.71326599e-01 -5.60492618e-03 6.27192163e+01] [ 4.71317941e-01 8.81958742e-01 -2.85928525e-03 1.61985962e+01] [ 6.29097083e-03 -1.19981548e-04 9.99980204e-01 3.18274468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.76, Y:16.21, Z:0.33 [[ 8.85521688e-01 -4.64564808e-01 -5.55686112e-03 6.27554659e+01] [ 4.64555419e-01 8.85539123e-01 -2.95380305e-03 1.62059723e+01] [ 6.29305087e-03 3.41867198e-05 9.99980198e-01 3.29109494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.77, Y:16.22, Z:0.32 [[ 8.82399773e-01 -4.70466970e-01 -5.60994675e-03 6.27734381e+01] [ 4.70458358e-01 8.82417597e-01 -2.84928295e-03 1.62225770e+01] [ 6.29080925e-03 -1.25039712e-04 9.99980205e-01 3.21815187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.79, Y:16.24, Z:0.32 [[ 8.81665272e-01 -4.71842507e-01 -5.56739531e-03 6.27926401e+01] [ 4.71833395e-01 8.81682849e-01 -2.93269563e-03 1.62368913e+01] [ 6.29244742e-03 -4.12271436e-05 9.99980202e-01 3.19174589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.83, Y:16.24, Z:0.33 [[ 8.86451532e-01 -4.62788224e-01 -5.54443479e-03 6.28275951e+01] [ 4.62778650e-01 8.86468868e-01 -2.97773682e-03 1.62448368e+01] [ 6.29303037e-03 7.37733156e-05 9.99980196e-01 3.29301253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.85, Y:16.26, Z:0.32 [[ 8.85346088e-01 -4.64898928e-01 -5.59391611e-03 6.28457569e+01] [ 4.64890007e-01 8.85363758e-01 -2.88053740e-03 1.62594202e+01] [ 6.29180934e-03 -5.02831796e-05 9.99980205e-01 3.24073861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.88, Y:16.27, Z:0.33 [[ 8.87809654e-01 -4.60177314e-01 -5.55504178e-03 6.28814785e+01] [ 4.60167818e-01 8.87827030e-01 -2.95701105e-03 1.62699132e+01] [ 6.29266565e-03 6.90114967e-05 9.99980199e-01 3.29256588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.90, Y:16.28, Z:0.32 [[ 8.86302032e-01 -4.63073683e-01 -5.61009171e-03 6.28969890e+01] [ 4.63064927e-01 8.86319784e-01 -2.84859447e-03 1.62836922e+01] [ 6.29144441e-03 -7.31216448e-05 9.99980206e-01 3.24472224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.93, Y:16.29, Z:0.33 [[ 8.88954437e-01 -4.57962115e-01 -5.54165905e-03 6.29313105e+01] [ 4.57952417e-01 8.88971703e-01 -2.98245995e-03 1.62949335e+01] [ 6.29223175e-03 1.13454847e-04 9.99980197e-01 3.29894416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.95, Y:16.31, Z:0.32 [[ 8.88548776e-01 -4.58748008e-01 -5.59804953e-03 6.29507721e+01] [ 4.58739018e-01 8.88566410e-01 -2.87198094e-03 1.63101419e+01] [ 6.29175430e-03 -1.61485986e-05 9.99980207e-01 3.23691132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:16.32, Z:0.32 [[ 8.89605357e-01 -4.56696108e-01 -5.56533588e-03 6.29742186e+01] [ 4.56686674e-01 8.89622763e-01 -2.93628356e-03 1.63221334e+01] [ 6.29203876e-03 7.05188512e-05 9.99980202e-01 3.23500424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.00, Y:16.33, Z:0.32 [[ 8.89999947e-01 -4.55926868e-01 -5.54838298e-03 6.30028894e+01] [ 4.55917211e-01 8.90017235e-01 -2.96959101e-03 1.63339934e+01] [ 6.29207281e-03 1.13332549e-04 9.99980198e-01 3.24111083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.03, Y:16.34, Z:0.33 [[ 8.91526391e-01 -4.52934395e-01 -5.57916996e-03 6.30311269e+01] [ 4.52925059e-01 8.91543846e-01 -2.90891670e-03 1.63443986e+01] [ 6.29162307e-03 6.64301226e-05 9.99980205e-01 3.27201261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.011858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.05, Y:16.36, Z:0.32 [[ 8.90747321e-01 -4.54464457e-01 -5.59169146e-03 6.30548133e+01] [ 4.54455306e-01 8.90764871e-01 -2.88424016e-03 1.63560283e+01] [ 6.29166696e-03 2.79553427e-05 9.99980207e-01 3.24930164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.08, Y:16.37, Z:0.33 [[ 8.91549910e-01 -4.52888155e-01 -5.57466113e-03 6.30831683e+01] [ 4.52878763e-01 8.91567335e-01 -2.91770048e-03 1.63667556e+01] [ 6.29157776e-03 7.66299654e-05 9.99980205e-01 3.26241979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.11, Y:16.38, Z:0.33 [[ 8.92467878e-01 -4.51076246e-01 -5.59527382e-03 6.31099769e+01] [ 4.51067072e-01 8.92485417e-01 -2.87717628e-03 1.63768590e+01] [ 6.29152616e-03 4.39436316e-05 9.99980207e-01 3.27450355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:16.39, Z:0.33 [[ 8.92542363e-01 -4.50928818e-01 -5.59746082e-03 6.31376707e+01] [ 4.50919668e-01 8.92559914e-01 -2.87287593e-03 1.63887923e+01] [ 6.29153170e-03 4.01582976e-05 9.99980207e-01 3.30141793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.16, Y:16.40, Z:0.33 [[ 8.91740733e-01 -4.52511861e-01 -5.61080727e-03 6.31611643e+01] [ 4.52502907e-01 8.91758384e-01 -2.84664502e-03 1.64015071e+01] [ 6.29162507e-03 -4.37286427e-07 9.99980208e-01 3.27313277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.161858064 meters Centerline goodness : 0.996056 Centerline is valid? [True, True] Translation: X:63.19, Y:16.41, Z:0.33 [[ 8.91806278e-01 -4.52382829e-01 -5.59807192e-03 6.31877308e+01] [ 4.52373716e-01 8.91823847e-01 -2.87161769e-03 1.64131231e+01] [ 6.29156458e-03 2.85060813e-05 9.99980208e-01 3.28731394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.21, Y:16.42, Z:0.33 [[ 8.91879522e-01 -4.52238173e-01 -5.61718970e-03 6.32137589e+01] [ 4.52229293e-01 8.91897211e-01 -2.83411344e-03 1.64220903e+01] [ 6.29165011e-03 -1.25699817e-05 9.99980207e-01 3.29602523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.221858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:63.24, Y:16.43, Z:0.33 [[ 8.91181204e-01 -4.53612930e-01 -5.60098139e-03 6.32397791e+01] [ 4.53603876e-01 8.91198805e-01 -2.86590373e-03 1.64335156e+01] [ 6.29159891e-03 1.34126650e-05 9.99980208e-01 3.29457876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.27, Y:16.44, Z:0.33 [[ 8.90701495e-01 -4.54554101e-01 -5.60500389e-03 6.32683593e+01] [ 4.54545116e-01 8.90719131e-01 -2.85801500e-03 1.64446470e+01] [ 6.29160663e-03 -2.08891181e-06 9.99980208e-01 3.28399207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:16.46, Z:0.33 [[ 8.90533194e-01 -4.54883544e-01 -5.62067219e-03 6.32938020e+01] [ 4.54874759e-01 8.90550931e-01 -2.82729044e-03 1.64577352e+01] [ 6.29158274e-03 -3.89059146e-05 9.99980207e-01 3.28591377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.311858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.32, Y:16.47, Z:0.32 [[ 8.87977698e-01 -4.59852186e-01 -5.61917803e-03 6.33153744e+01] [ 4.59843482e-01 8.87995474e-01 -2.83021768e-03 1.64695840e+01] [ 6.29128645e-03 -7.07722155e-05 9.99980207e-01 3.24006626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.34, Y:16.48, Z:0.33 [[ 8.88103627e-01 -4.59609330e-01 -5.58669981e-03 6.33447543e+01] [ 4.59600220e-01 8.88121199e-01 -2.89376804e-03 1.64801317e+01] [ 6.29166932e-03 2.31742532e-06 9.99980207e-01 3.26378040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.37, Y:16.49, Z:0.33 [[ 8.87122980e-01 -4.61499117e-01 -5.60206107e-03 6.33737472e+01] [ 4.61490234e-01 8.87140667e-01 -2.86370513e-03 1.64889773e+01] [ 6.29141358e-03 -4.48378467e-05 9.99980208e-01 3.27507640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.40, Y:16.50, Z:0.33 [[ 8.86626899e-01 -4.62451322e-01 -5.61406686e-03 6.33967275e+01] [ 4.62442607e-01 8.86644669e-01 -2.84020437e-03 1.64999696e+01] [ 6.29113871e-03 -7.79821226e-05 9.99980208e-01 3.28069214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.431858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.42, Y:16.51, Z:0.33 [[ 8.85911753e-01 -4.63820054e-01 -5.59665481e-03 6.34219391e+01] [ 4.63811151e-01 8.85929430e-01 -2.87424622e-03 1.65112325e+01] [ 6.29137424e-03 -4.94624037e-05 9.99980208e-01 3.28439996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.461858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.45, Y:16.52, Z:0.33 [[ 8.85272377e-01 -4.65039186e-01 -5.60119738e-03 6.34474807e+01] [ 4.65030363e-01 8.85290094e-01 -2.86536644e-03 1.65226726e+01] [ 6.29119223e-03 -6.80970885e-05 9.99980208e-01 3.28708133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.491858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.47, Y:16.53, Z:0.33 [[ 8.83529417e-01 -4.68342187e-01 -5.60040331e-03 6.34746330e+01] [ 4.68333421e-01 8.83547162e-01 -2.86691763e-03 1.65329199e+01] [ 6.29091892e-03 -8.98499769e-05 9.99980208e-01 3.27769883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.521858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.50, Y:16.54, Z:0.33 [[ 8.83218296e-01 -4.68928600e-01 -5.60447963e-03 6.34984678e+01] [ 4.68919896e-01 8.83236071e-01 -2.85895853e-03 1.65434955e+01] [ 6.29072600e-03 -1.02967527e-04 9.99980208e-01 3.27980177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:16.55, Z:0.33 [[ 8.81585354e-01 -4.71991501e-01 -5.59340074e-03 6.35253437e+01] [ 4.71982722e-01 8.81603092e-01 -2.88056986e-03 1.65537078e+01] [ 6.29076389e-03 -1.00520306e-04 9.99980208e-01 3.29207652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.581858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.55, Y:16.57, Z:0.33 [[ 8.80722631e-01 -4.73599290e-01 -5.59997924e-03 6.35517447e+01] [ 4.73590624e-01 8.80740425e-01 -2.86774172e-03 1.65658456e+01] [ 6.29028854e-03 -1.26412632e-04 9.99980208e-01 3.28198299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.611858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:63.58, Y:16.58, Z:0.33 [[ 8.80881148e-01 -4.73304360e-01 -5.60228857e-03 6.35765852e+01] [ 4.73295717e-01 8.80898953e-01 -2.86324038e-03 1.65771171e+01] [ 6.29023429e-03 -1.29364712e-04 9.99980208e-01 3.29402949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.60, Y:16.59, Z:0.33 [[ 8.80827564e-01 -4.73404155e-01 -5.59544895e-03 6.36033481e+01] [ 4.73395429e-01 8.80845329e-01 -2.87656296e-03 1.65879551e+01] [ 6.29050193e-03 -1.15104013e-04 9.99980208e-01 3.28970037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.671858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:63.63, Y:16.60, Z:0.33 [[ 8.80835364e-01 -4.73389626e-01 -5.59670070e-03 6.36298589e+01] [ 4.73380915e-01 8.80853137e-01 -2.87412548e-03 1.66001810e+01] [ 6.29045255e-03 -1.17739937e-04 9.99980208e-01 3.29174530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.65, Y:16.61, Z:0.33 [[ 8.81142072e-01 -4.72818480e-01 -5.59766348e-03 6.36549350e+01] [ 4.72809770e-01 8.81159845e-01 -2.87225120e-03 1.66111524e+01] [ 6.29048973e-03 -1.15768610e-04 9.99980208e-01 3.29198887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73185806400001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.68, Y:16.62, Z:0.33 [[ 8.81321292e-01 -4.72484356e-01 -5.59586805e-03 6.36804395e+01] [ 4.72475617e-01 8.81339050e-01 -2.87574491e-03 1.66226343e+01] [ 6.29060151e-03 -1.09455997e-04 9.99980208e-01 3.29566534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.71, Y:16.63, Z:0.33 [[ 8.81866396e-01 -4.71466175e-01 -5.59507738e-03 6.37068987e+01] [ 4.71457406e-01 8.81884140e-01 -2.87728241e-03 1.66340216e+01] [ 6.29075134e-03 -1.00461993e-04 9.99980208e-01 3.31777351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.73, Y:16.65, Z:0.33 [[ 8.82484102e-01 -4.70308886e-01 -5.60007221e-03 6.37308140e+01] [ 4.70300155e-01 8.82501865e-01 -2.86757106e-03 1.66460962e+01] [ 6.29071832e-03 -1.03128958e-04 9.99980208e-01 3.31299556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.821858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.76, Y:16.66, Z:0.33 [[ 8.83235926e-01 -4.68895516e-01 -5.59403444e-03 6.37561258e+01] [ 4.68886683e-01 8.83253638e-01 -2.87930152e-03 1.66584783e+01] [ 6.29104284e-03 -7.98657049e-05 9.99980208e-01 3.31389322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:16.67, Z:0.33 [[ 8.84148251e-01 -4.67172979e-01 -5.59266914e-03 6.37820513e+01] [ 4.67164094e-01 8.84165937e-01 -2.88195245e-03 1.66705536e+01] [ 6.29121786e-03 -6.46209978e-05 9.99980208e-01 3.31087924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.881858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:63.81, Y:16.68, Z:0.33 [[ 8.84256118e-01 -4.66968795e-01 -5.59129588e-03 6.38084531e+01] [ 4.66959889e-01 8.84273793e-01 -2.88461728e-03 1.66833861e+01] [ 6.29126268e-03 -6.01704285e-05 9.99980208e-01 3.30280859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.83, Y:16.69, Z:0.33 [[ 8.85023183e-01 -4.65513298e-01 -5.59780682e-03 6.38330349e+01] [ 4.65504443e-01 8.85040883e-01 -2.87198571e-03 1.66943975e+01] [ 6.29123544e-03 -6.40300146e-05 9.99980208e-01 3.29935839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.86, Y:16.71, Z:0.33 [[ 8.84924484e-01 -4.65700909e-01 -5.59653407e-03 6.38586322e+01] [ 4.65692042e-01 8.84942179e-01 -2.87445283e-03 1.67073122e+01] [ 6.29124435e-03 -6.25876958e-05 9.99980208e-01 3.31461202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.971858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:63.88, Y:16.72, Z:0.33 [[ 8.85250435e-01 -4.65080975e-01 -5.59950952e-03 6.38822802e+01] [ 4.65072132e-01 8.85268142e-01 -2.86869229e-03 1.67199441e+01] [ 6.29124159e-03 -6.46647346e-05 9.99980208e-01 3.31742824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.91, Y:16.73, Z:0.33 [[ 8.85065353e-01 -4.65433224e-01 -5.58876441e-03 6.39071721e+01] [ 4.65424257e-01 8.85082997e-01 -2.88947526e-03 1.67327102e+01] [ 6.29137814e-03 -4.37720785e-05 9.99980208e-01 3.31506412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.031858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.93, Y:16.74, Z:0.33 [[ 8.84927021e-01 -4.65696107e-01 -5.59503063e-03 6.39321457e+01] [ 4.65687221e-01 8.84944706e-01 -2.87735379e-03 1.67445708e+01] [ 6.29126519e-03 -5.92861451e-05 9.99980208e-01 3.33378601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.96, Y:16.76, Z:0.33 [[ 8.85133868e-01 -4.65302804e-01 -5.59796500e-03 6.39577361e+01] [ 4.65293946e-01 8.85151567e-01 -2.87168132e-03 1.67566450e+01] [ 6.29124886e-03 -6.28768292e-05 9.99980208e-01 3.34296664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09185806400001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:63.98, Y:16.77, Z:0.33 [[ 8.85152025e-01 -4.65268370e-01 -5.58898442e-03 6.39830775e+01] [ 4.65259403e-01 8.85169668e-01 -2.88902971e-03 1.67690302e+01] [ 6.29137363e-03 -4.30970592e-05 9.99980208e-01 3.34558286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.121858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:64.02, Y:16.78, Z:0.33 [[ 8.86631081e-01 -4.62443636e-01 -5.58656410e-03 6.40196591e+01] [ 4.62434583e-01 8.86648681e-01 -2.89370236e-03 1.67799807e+01] [ 6.29149393e-03 -1.77739894e-05 9.99980208e-01 3.31913442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:16.80, Z:0.33 [[ 8.84648318e-01 -4.66224516e-01 -5.66161769e-03 6.40343402e+01] [ 4.66216460e-01 8.84666410e-01 -2.74873495e-03 1.67967387e+01] [ 6.29017062e-03 -2.07875607e-04 9.99980195e-01 3.33062142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.06, Y:16.81, Z:0.33 [[ 8.84630805e-01 -4.66258634e-01 -5.58792530e-03 6.40577352e+01] [ 4.66249675e-01 8.84648452e-01 -2.89071202e-03 1.68096419e+01] [ 6.29116891e-03 -4.81554583e-05 9.99980209e-01 3.33816223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.211858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.08, Y:16.82, Z:0.33 [[ 8.83622074e-01 -4.68167552e-01 -5.58337360e-03 6.40827958e+01] [ 4.68158576e-01 8.83639712e-01 -2.89947699e-03 1.68233943e+01] [ 6.29113169e-03 -5.18623620e-05 9.99980209e-01 3.32060739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.241858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.11, Y:16.84, Z:0.33 [[ 8.83029646e-01 -4.69283881e-01 -5.59309915e-03 6.41073376e+01] [ 4.69275046e-01 8.83047356e-01 -2.88076086e-03 1.68357619e+01] [ 6.29086605e-03 -8.09046174e-05 9.99980209e-01 3.33520011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.13, Y:16.85, Z:0.33 [[ 8.81834107e-01 -4.71526729e-01 -5.58136917e-03 6.41322115e+01] [ 4.71517796e-01 8.81851767e-01 -2.90331077e-03 1.68482821e+01] [ 6.29092889e-03 -7.14764254e-05 9.99980209e-01 3.34088589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.301858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:64.16, Y:16.86, Z:0.34 [[ 8.79531457e-01 -4.75808021e-01 -5.58054678e-03 6.41568798e+01] [ 4.75799164e-01 8.79549155e-01 -2.90489066e-03 1.68605601e+01] [ 6.29053548e-03 -1.00276782e-04 9.99980209e-01 3.35173062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.331858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:64.18, Y:16.87, Z:0.34 [[ 8.78439355e-01 -4.77821263e-01 -5.58029259e-03 6.41818532e+01] [ 4.77812444e-01 8.78457072e-01 -2.90537886e-03 1.68735732e+01] [ 6.29029929e-03 -1.14134112e-04 9.99980209e-01 3.36459003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.361858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.21, Y:16.89, Z:0.34 [[ 8.76743508e-01 -4.80925868e-01 -5.57948491e-03 6.42066447e+01] [ 4.80917101e-01 8.76761251e-01 -2.90692910e-03 1.68869483e+01] [ 6.28989357e-03 -1.34638495e-04 9.99980209e-01 3.38512361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.391858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:64.23, Y:16.90, Z:0.34 [[ 8.76154690e-01 -4.81997757e-01 -5.57867759e-03 6.42312980e+01] [ 4.81989003e-01 8.76172439e-01 -2.90847761e-03 1.69003691e+01] [ 6.28976323e-03 -1.40584948e-04 9.99980209e-01 3.39877531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:64.26, Y:16.91, Z:0.34 [[ 8.75787076e-01 -4.82665396e-01 -5.57786963e-03 6.42557011e+01] [ 4.82656645e-01 8.75804827e-01 -2.91002627e-03 1.69141636e+01] [ 6.28969413e-03 -1.43632443e-04 9.99980209e-01 3.40754190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.451858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.28, Y:16.93, Z:0.34 [[ 8.75591584e-01 -4.83019953e-01 -5.57706018e-03 6.42800003e+01] [ 4.83011199e-01 8.75609333e-01 -2.91157677e-03 1.69284284e+01] [ 6.28967562e-03 -1.44430412e-04 9.99980209e-01 3.41020057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48185806400001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:64.30, Y:16.94, Z:0.34 [[ 8.76119481e-01 -4.82061780e-01 -5.57623808e-03 6.43022836e+01] [ 4.82052997e-01 8.76137216e-01 -2.91315040e-03 1.69434936e+01] [ 6.28986818e-03 -1.35774465e-04 9.99980209e-01 3.40430572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.33, Y:16.96, Z:0.34 [[ 8.79196702e-01 -4.76426351e-01 -5.57588165e-03 6.43329971e+01] [ 4.76417450e-01 8.79214378e-01 -2.91383245e-03 1.69578887e+01] [ 6.29062188e-03 -9.46154373e-05 9.99980209e-01 3.38756396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.541858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.35, Y:16.97, Z:0.34 [[ 8.77895938e-01 -4.78818359e-01 -5.63035818e-03 6.43485879e+01] [ 4.78810171e-01 8.77913963e-01 -2.80945962e-03 1.69742979e+01] [ 6.28819091e-03 -2.29459574e-04 9.99980203e-01 3.40080973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.571858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.37, Y:16.99, Z:0.34 [[ 8.78560706e-01 -4.77598167e-01 -5.57460319e-03 6.43727182e+01] [ 4.77589276e-01 8.78578386e-01 -2.91604648e-03 1.69891275e+01] [ 6.29042433e-03 -1.00446842e-04 9.99980210e-01 3.40226115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.601858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.40, Y:17.00, Z:0.34 [[ 8.79213850e-01 -4.76394731e-01 -5.57378134e-03 6.43963211e+01] [ 4.76385805e-01 8.79231512e-01 -2.91761653e-03 1.70038517e+01] [ 6.29058134e-03 -9.00614529e-05 9.99980210e-01 3.40345995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.631858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.42, Y:17.02, Z:0.34 [[ 8.80733861e-01 -4.73578725e-01 -5.57295602e-03 6.44189140e+01] [ 4.73569732e-01 8.80751490e-01 -2.91919213e-03 1.70191313e+01] [ 6.29085660e-03 -6.81519366e-05 9.99980210e-01 3.40683494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.661858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.44, Y:17.03, Z:0.34 [[ 8.81240270e-01 -4.72635729e-01 -5.57259834e-03 6.44429692e+01] [ 4.72626714e-01 8.81257887e-01 -2.91987476e-03 1.70329155e+01] [ 6.29093338e-03 -6.06476169e-05 9.99980210e-01 3.41086298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.691858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:64.47, Y:17.05, Z:0.34 [[ 8.82341947e-01 -4.70575865e-01 -5.57177962e-03 6.44670469e+01] [ 4.70566798e-01 8.82359538e-01 -2.92143623e-03 1.70478608e+01] [ 6.29107027e-03 -4.41887710e-05 9.99980210e-01 3.40118579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.721858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:64.50, Y:17.06, Z:0.34 [[ 8.84154140e-01 -4.67162094e-01 -5.57095383e-03 6.44984197e+01] [ 4.67152950e-01 8.84171690e-01 -2.92301009e-03 1.70604024e+01] [ 6.29119918e-03 -1.80960419e-05 9.99980210e-01 3.39173383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.52, Y:17.08, Z:0.34 [[ 8.83348514e-01 -4.68683184e-01 -5.61034001e-03 6.45165997e+01] [ 4.68674546e-01 8.83366322e-01 -2.84787652e-03 1.70757377e+01] [ 6.29073725e-03 -1.13756064e-04 9.99980207e-01 3.40082613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.54, Y:17.09, Z:0.34 [[ 8.83751818e-01 -4.67922748e-01 -5.57013013e-03 6.45409505e+01] [ 4.67913610e-01 8.83769371e-01 -2.92446303e-03 1.70892389e+01] [ 6.29113318e-03 -2.18401768e-05 9.99980210e-01 3.40800995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.811858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.56, Y:17.10, Z:0.34 [[ 8.84069202e-01 -4.67322832e-01 -5.56930812e-03 6.45648340e+01] [ 4.67313672e-01 8.84086744e-01 -2.92602760e-03 1.71033061e+01] [ 6.29115099e-03 -1.58029440e-05 9.99980210e-01 3.41761463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84185806400001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:64.59, Y:17.12, Z:0.34 [[ 8.84738966e-01 -4.66053597e-01 -5.56848124e-03 6.45880048e+01] [ 4.66044401e-01 8.84756489e-01 -2.92760038e-03 1.71184151e+01] [ 6.29116860e-03 -4.99737293e-06 9.99980210e-01 3.42576647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.871858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:64.61, Y:17.13, Z:0.34 [[ 8.84781826e-01 -4.65972226e-01 -5.56822528e-03 6.46123577e+01] [ 4.65963026e-01 8.84799347e-01 -2.92808713e-03 1.71317716e+01] [ 6.29116937e-03 -3.86882881e-06 9.99980210e-01 3.42877163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.901858064 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:64.64, Y:17.14, Z:0.34 [[ 8.84282839e-01 -4.66918478e-01 -5.56741831e-03 6.46369145e+01] [ 4.66909287e-01 8.84300365e-01 -2.92962069e-03 1.71449389e+01] [ 6.29116408e-03 -8.86601541e-06 9.99980210e-01 3.43634095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.931858064 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:64.66, Y:17.16, Z:0.34 [[ 8.84018109e-01 -4.67419508e-01 -5.56660281e-03 6.46616389e+01] [ 4.67410318e-01 8.84035635e-01 -2.93116941e-03 1.71582154e+01] [ 6.29116101e-03 -1.06807523e-05 9.99980210e-01 3.44259954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.961858064 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:64.69, Y:17.17, Z:0.34 [[ 8.82852093e-01 -4.69618148e-01 -5.56577295e-03 6.46851569e+01] [ 4.69608991e-01 8.82869636e-01 -2.93274433e-03 1.71730558e+01] [ 6.29112190e-03 -2.45575510e-05 9.99980210e-01 3.43766619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.991858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:64.71, Y:17.19, Z:0.34 [[ 8.82077919e-01 -4.71070670e-01 -5.56494223e-03 6.47097722e+01] [ 4.71061533e-01 8.82095472e-01 -2.93431979e-03 1.71868477e+01] [ 6.29108233e-03 -3.31315211e-05 9.99980210e-01 3.43487289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.021858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:64.73, Y:17.20, Z:0.34 [[ 8.81303359e-01 -4.72518180e-01 -5.56410850e-03 6.47336244e+01] [ 4.72509061e-01 8.81320922e-01 -2.93589986e-03 1.71997553e+01] [ 6.29103130e-03 -4.16732804e-05 9.99980210e-01 3.43319455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.76, Y:17.21, Z:0.34 [[ 8.80486519e-01 -4.74038538e-01 -5.56374733e-03 6.47585905e+01] [ 4.74029445e-01 8.80504095e-01 -2.93658415e-03 1.72130499e+01] [ 6.29095637e-03 -5.17572986e-05 9.99980210e-01 3.43529237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.081858064 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:64.78, Y:17.23, Z:0.34 [[ 8.79222207e-01 -4.76379434e-01 -5.56292593e-03 6.47831524e+01] [ 4.76370377e-01 8.79239803e-01 -2.93813935e-03 1.72268901e+01] [ 6.29081506e-03 -6.67357560e-05 9.99980210e-01 3.43279847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.111858064 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:64.81, Y:17.24, Z:0.34 [[ 8.78793146e-01 -4.77170482e-01 -5.56210737e-03 6.48063503e+01] [ 4.77161432e-01 8.78810745e-01 -2.93968812e-03 1.72399852e+01] [ 6.29077212e-03 -7.06453407e-05 9.99980210e-01 3.43049613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141858064 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:64.83, Y:17.25, Z:0.34 [[ 8.78379614e-01 -4.77931293e-01 -5.56175287e-03 6.48304915e+01] [ 4.77922254e-01 8.78397219e-01 -2.94035867e-03 1.72537905e+01] [ 6.29071767e-03 -7.53343508e-05 9.99980210e-01 3.42808152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.171858064 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:64.85, Y:17.27, Z:0.34 [[ 8.78134845e-01 -4.78380884e-01 -5.56094723e-03 6.48541314e+01] [ 4.78371845e-01 8.78152449e-01 -2.94188154e-03 1.72690721e+01] [ 6.29069932e-03 -7.68318979e-05 9.99980210e-01 3.42468210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201858064 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:64.88, Y:17.28, Z:0.34 [[ 8.78000782e-01 -4.78626903e-01 -5.56012320e-03 6.48793597e+01] [ 4.78617858e-01 8.78018384e-01 -2.94343813e-03 1.72825050e+01] [ 6.29069906e-03 -7.68332809e-05 9.99980210e-01 3.42647397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23185806400001 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:64.90, Y:17.30, Z:0.34 [[ 8.78024854e-01 -4.78582751e-01 -5.55929808e-03 6.49040762e+01] [ 4.78573696e-01 8.78042450e-01 -2.94499571e-03 1.72967188e+01] [ 6.29072386e-03 -7.47543989e-05 9.99980210e-01 3.42054351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.261858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.93, Y:17.31, Z:0.34 [[ 8.78080058e-01 -4.78481468e-01 -5.55847393e-03 6.49280851e+01] [ 4.78472400e-01 8.78097648e-01 -2.94655043e-03 1.73104554e+01] [ 6.29075266e-03 -7.22691898e-05 9.99980210e-01 3.42051330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.291858064 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:64.95, Y:17.32, Z:0.34 [[ 8.78714074e-01 -4.77316130e-01 -5.55765392e-03 6.49519671e+01] [ 4.77307030e-01 8.78731647e-01 -2.94809628e-03 1.73243693e+01] [ 6.29086029e-03 -6.21735911e-05 9.99980210e-01 3.42189395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.321858064 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:64.98, Y:17.34, Z:0.34 [[ 8.78763398e-01 -4.77225319e-01 -5.55739913e-03 6.49763858e+01] [ 4.77216214e-01 8.78780969e-01 -2.94857650e-03 1.73387912e+01] [ 6.29087195e-03 -6.09798621e-05 9.99980210e-01 3.42088010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.351858064 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:65.00, Y:17.35, Z:0.34 [[ 8.78641144e-01 -4.77450380e-01 -5.55658758e-03 6.50013244e+01] [ 4.77441269e-01 8.78658711e-01 -2.95010507e-03 1.73540270e+01] [ 6.29087287e-03 -6.08605310e-05 9.99980210e-01 3.41662671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.381858064 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:65.03, Y:17.37, Z:0.34 [[ 8.78748455e-01 -4.77252820e-01 -5.55866279e-03 6.50250963e+01] [ 4.77243730e-01 8.78766034e-01 -2.94619759e-03 1.73671716e+01] [ 6.29084516e-03 -6.38703794e-05 9.99980210e-01 3.43552901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.411858064 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:65.05, Y:17.38, Z:0.34 [[ 8.78706723e-01 -4.77329689e-01 -5.55549445e-03 6.50495726e+01] [ 4.77320563e-01 8.78724283e-01 -2.95215991e-03 1.73803437e+01] [ 6.29090144e-03 -5.76689796e-05 9.99980210e-01 3.44660180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.441858064 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:65.07, Y:17.39, Z:0.34 [[ 8.78773185e-01 -4.77207329e-01 -5.55465087e-03 6.50737327e+01] [ 4.77198191e-01 8.78790738e-01 -2.95374629e-03 1.73942694e+01] [ 6.29092512e-03 -5.49963148e-05 9.99980210e-01 3.44992149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.471858064 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:65.10, Y:17.41, Z:0.34 [[ 8.79821884e-01 -4.75271088e-01 -5.55380548e-03 6.50973359e+01] [ 4.75261901e-01 8.79839412e-01 -2.95533499e-03 1.74092868e+01] [ 6.29104222e-03 -3.93437482e-05 9.99980210e-01 3.44160122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501858064 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:65.12, Y:17.42, Z:0.34 [[ 8.80525872e-01 -4.73965554e-01 -5.55354338e-03 6.51212578e+01] [ 4.73956338e-01 8.80543385e-01 -2.95582744e-03 1.74234225e+01] [ 6.29109627e-03 -2.94545503e-05 9.99980210e-01 3.44128361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.531858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:65.14, Y:17.44, Z:0.34 [[ 8.82375063e-01 -4.70513991e-01 -5.55271063e-03 6.51437787e+01] [ 4.70504697e-01 8.82392534e-01 -2.95739098e-03 1.74375185e+01] [ 6.29116424e-03 -3.04837607e-06 9.99980210e-01 3.41183256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:65.17, Y:17.45, Z:0.34 [[ 8.82891766e-01 -4.69543758e-01 -5.54881202e-03 6.51687627e+01] [ 4.69534399e-01 8.82909202e-01 -2.96470791e-03 1.74515790e+01] [ 6.29115729e-03 1.21580891e-05 9.99980210e-01 3.44912720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59185806400001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:65.19, Y:17.46, Z:0.35 [[ 8.83463099e-01 -4.68467856e-01 -5.55168525e-03 6.51933618e+01] [ 4.68458509e-01 8.83480542e-01 -2.95931772e-03 1.74647384e+01] [ 6.29115112e-03 1.37138100e-05 9.99980210e-01 3.45240759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.621858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:65.22, Y:17.48, Z:0.35 [[ 8.84468151e-01 -4.66567550e-01 -5.55085081e-03 6.52184676e+01] [ 4.66558155e-01 8.84485568e-01 -2.96088208e-03 1.74778504e+01] [ 6.29109893e-03 2.90111807e-05 9.99980210e-01 3.45765320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:17.49, Z:0.35 [[ 8.84992722e-01 -4.65571776e-01 -5.55001459e-03 6.52430744e+01] [ 4.65562353e-01 8.85010124e-01 -2.96244869e-03 1.74916252e+01] [ 6.29105160e-03 3.78676801e-05 9.99980210e-01 3.45332905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.681858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.27, Y:17.51, Z:0.34 [[ 8.85270495e-01 -4.65043387e-01 -5.54975604e-03 6.52673897e+01] [ 4.65033950e-01 8.85287889e-01 -2.96293297e-03 1.75057185e+01] [ 6.29102419e-03 4.21721695e-05 9.99980210e-01 3.42975472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.711858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:65.29, Y:17.52, Z:0.35 [[ 8.85077117e-01 -4.65411362e-01 -5.54617732e-03 6.52927573e+01] [ 4.65401891e-01 8.85094493e-01 -2.96963385e-03 1.75197118e+01] [ 6.29099234e-03 4.71535541e-05 9.99980210e-01 3.45305221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.741858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.32, Y:17.53, Z:0.34 [[ 8.84323752e-01 -4.66841206e-01 -5.54881931e-03 6.53185365e+01] [ 4.66831793e-01 8.84341160e-01 -2.96468900e-03 1.75328459e+01] [ 6.29108829e-03 3.13796340e-05 9.99980210e-01 3.44391449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.771858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:65.34, Y:17.54, Z:0.35 [[ 8.83812960e-01 -4.67807550e-01 -5.54507868e-03 6.53443637e+01] [ 4.67798113e-01 8.83830354e-01 -2.97168746e-03 1.75446331e+01] [ 6.29108669e-03 3.24385497e-05 9.99980210e-01 3.45385683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.37, Y:17.56, Z:0.34 [[ 8.82354301e-01 -4.70552984e-01 -5.54776706e-03 6.53705191e+01] [ 4.70543632e-01 8.82371741e-01 -2.96666010e-03 1.75565224e+01] [ 6.29116364e-03 7.17883855e-06 9.99980210e-01 3.43874973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.831858064 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:65.40, Y:17.57, Z:0.34 [[ 8.81311258e-01 -4.72503555e-01 -5.55484008e-03 6.53954434e+01] [ 4.72494325e-01 8.81328764e-01 -2.95342583e-03 1.75691987e+01] [ 6.29114455e-03 -2.17429854e-05 9.99980210e-01 3.44335421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.42, Y:17.58, Z:0.35 [[ 8.81282977e-01 -4.72556388e-01 -5.54757620e-03 6.54219007e+01] [ 4.72547073e-01 8.81300437e-01 -2.96700751e-03 1.75819243e+01] [ 6.29115968e-03 -6.71768527e-06 9.99980210e-01 3.45765554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.891858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.45, Y:17.60, Z:0.35 [[ 8.80541373e-01 -4.73936834e-01 -5.54679885e-03 6.54468969e+01] [ 4.73927538e-01 8.80558844e-01 -2.96846004e-03 1.75952326e+01] [ 6.29114534e-03 -1.49288413e-05 9.99980210e-01 3.46633124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.47, Y:17.61, Z:0.35 [[ 8.80005262e-01 -4.74931554e-01 -5.54597474e-03 6.54715056e+01] [ 4.74922268e-01 8.80022738e-01 -2.96999893e-03 1.76067468e+01] [ 6.29113008e-03 -2.02922129e-05 9.99980210e-01 3.45847536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:17.62, Z:0.35 [[ 8.79216132e-01 -4.76390975e-01 -5.53470193e-03 6.54984855e+01] [ 4.76381585e-01 8.79233552e-01 -2.99102806e-03 1.76201677e+01] [ 6.29119441e-03 -6.86995750e-06 9.99980210e-01 3.47771953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:17.63, Z:0.35 [[ 8.78810991e-01 -4.77137824e-01 -5.54430967e-03 6.55238450e+01] [ 4.77128562e-01 8.78828479e-01 -2.97311136e-03 1.76322584e+01] [ 6.29108113e-03 -3.25455573e-05 9.99980210e-01 3.47853795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.011858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.55, Y:17.64, Z:0.35 [[ 8.78642017e-01 -4.77448924e-01 -5.54348208e-03 6.55494746e+01] [ 4.77439659e-01 8.78659504e-01 -2.97465365e-03 1.76439943e+01] [ 6.29107840e-03 -3.30225086e-05 9.99980210e-01 3.46003281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.57, Y:17.66, Z:0.35 [[ 8.78300130e-01 -4.78077638e-01 -5.53664123e-03 6.55741158e+01] [ 4.78068305e-01 8.78317580e-01 -2.98739246e-03 1.76567003e+01] [ 6.29113486e-03 -2.30655003e-05 9.99980210e-01 3.47287612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.071858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:65.60, Y:17.67, Z:0.35 [[ 8.78644700e-01 -4.77444001e-01 -5.54230884e-03 6.55987488e+01] [ 4.77434722e-01 8.78662179e-01 -2.97684046e-03 1.76683254e+01] [ 6.29109178e-03 -3.05055876e-05 9.99980210e-01 3.46493431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.101858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:65.63, Y:17.68, Z:0.35 [[ 8.78117727e-01 -4.78412712e-01 -5.52570389e-03 6.56251742e+01] [ 4.78403258e-01 8.78135113e-01 -3.00772184e-03 1.76810852e+01] [ 6.29124697e-03 -2.38087184e-06 9.99980210e-01 3.47288294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.131858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:65.65, Y:17.69, Z:0.35 [[ 8.77901497e-01 -4.78809210e-01 -5.54097262e-03 6.56506462e+01] [ 4.78799942e-01 8.77918982e-01 -2.97932494e-03 1.76933736e+01] [ 6.29105326e-03 -3.74635492e-05 9.99980210e-01 3.48197249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.161858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:65.68, Y:17.71, Z:0.35 [[ 8.77947632e-01 -4.78724620e-01 -5.54013836e-03 6.56756686e+01] [ 4.78715341e-01 8.77965111e-01 -2.98087546e-03 1.77057757e+01] [ 6.29106666e-03 -3.50966730e-05 9.99980210e-01 3.48696970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.191858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:65.70, Y:17.72, Z:0.35 [[ 8.77878143e-01 -4.78852040e-01 -5.53988026e-03 6.57001826e+01] [ 4.78842760e-01 8.77895622e-01 -2.98135504e-03 1.77179213e+01] [ 6.29106457e-03 -3.54651318e-05 9.99980210e-01 3.49886287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.221858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:65.72, Y:17.73, Z:0.35 [[ 8.77983568e-01 -4.78658790e-01 -5.53319917e-03 6.57236348e+01] [ 4.78649428e-01 8.78001004e-01 -2.99376132e-03 1.77287165e+01] [ 6.29114460e-03 -1.99893721e-05 9.99980210e-01 3.50684274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.75, Y:17.74, Z:0.35 [[ 8.76991246e-01 -4.80474635e-01 -5.52090930e-03 6.57506341e+01] [ 4.80465165e-01 8.77008623e-01 -3.01656436e-03 1.77423938e+01] [ 6.29126772e-03 -7.10405751e-06 9.99980210e-01 3.49860056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:65.78, Y:17.75, Z:0.35 [[ 8.76546882e-01 -4.81284629e-01 -5.53799603e-03 6.57755745e+01] [ 4.81275375e-01 8.76564375e-01 -2.98486233e-03 1.77549217e+01] [ 6.29097838e-03 -4.89293472e-05 9.99980210e-01 3.50236451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.311858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.80, Y:17.77, Z:0.35 [[ 8.76131258e-01 -4.82040826e-01 -5.53719702e-03 6.58011413e+01] [ 4.82031579e-01 8.76148754e-01 -2.98634382e-03 1.77659069e+01] [ 6.29094791e-03 -5.26746513e-05 9.99980210e-01 3.51582032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34185806400001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:65.83, Y:17.78, Z:0.35 [[ 8.75991404e-01 -4.82294932e-01 -5.53694980e-03 6.58261177e+01] [ 4.82285687e-01 8.76008901e-01 -2.98680212e-03 1.77783913e+01] [ 6.29093684e-03 -5.39786489e-05 9.99980210e-01 3.53043351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.85, Y:17.79, Z:0.35 [[ 8.75812317e-01 -4.82620075e-01 -5.53610606e-03 6.58507140e+01] [ 4.82610826e-01 8.75829812e-01 -2.98836520e-03 1.77915037e+01] [ 6.29093177e-03 -5.45376707e-05 9.99980210e-01 3.53157791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.88, Y:17.80, Z:0.35 [[ 8.75888903e-01 -4.82481078e-01 -5.53526682e-03 6.58752358e+01] [ 4.82471817e-01 8.75906391e-01 -2.98991889e-03 1.78045977e+01] [ 6.29095488e-03 -5.17734659e-05 9.99980210e-01 3.52788907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.90, Y:17.82, Z:0.35 [[ 8.76875907e-01 -4.80684936e-01 -5.53500715e-03 6.58984093e+01] [ 4.80675635e-01 8.76893375e-01 -2.99039952e-03 1.78171647e+01] [ 6.29105110e-03 -3.83337880e-05 9.99980210e-01 3.52286725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.461858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:65.92, Y:17.83, Z:0.35 [[ 8.76747227e-01 -4.80919876e-01 -5.51107549e-03 6.59244934e+01] [ 4.80910302e-01 8.76764548e-01 -3.03461469e-03 1.78300012e+01] [ 6.29132213e-03 1.02570315e-05 9.99980209e-01 3.51321524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.491858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:65.95, Y:17.84, Z:0.35 [[ 8.76536723e-01 -4.81303381e-01 -5.51628742e-03 6.59516169e+01] [ 4.81293874e-01 8.76554080e-01 -3.02498850e-03 1.78433473e+01] [ 6.29126143e-03 -3.44183890e-06 9.99980210e-01 3.51250862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.521858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.98, Y:17.85, Z:0.35 [[ 8.77167004e-01 -4.80153564e-01 -5.53193253e-03 6.59777211e+01] [ 4.80144217e-01 8.77184447e-01 -2.99610173e-03 1.78545498e+01] [ 6.29111410e-03 -2.80438378e-05 9.99980210e-01 3.50567164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.00, Y:17.87, Z:0.35 [[ 8.77853427e-01 -4.78897443e-01 -5.53167128e-03 6.60019964e+01] [ 4.78888068e-01 8.77870856e-01 -2.99658399e-03 1.78670369e+01] [ 6.29114941e-03 -1.84898452e-05 9.99980210e-01 3.49697125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.03, Y:17.88, Z:0.35 [[ 8.77645131e-01 -4.79279232e-01 -5.51741453e-03 6.60281066e+01] [ 4.79269699e-01 8.77662474e-01 -3.02288474e-03 1.78812769e+01] [ 6.29123356e-03 8.69047124e-06 9.99980210e-01 3.50027914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:17.89, Z:0.35 [[ 8.78323876e-01 -4.78034078e-01 -5.53069283e-03 6.60524905e+01] [ 4.78024675e-01 8.78341289e-01 -2.99839221e-03 1.78943926e+01] [ 6.29116953e-03 -1.02481743e-05 9.99980210e-01 3.49802268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.09, Y:17.91, Z:0.35 [[ 8.79267289e-01 -4.76296693e-01 -5.52214207e-03 6.60860247e+01] [ 4.76287156e-01 8.79284630e-01 -3.01416357e-03 1.79077848e+01] [ 6.29117079e-03 2.01300867e-05 9.99980210e-01 3.50288414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.671858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:66.10, Y:17.92, Z:0.35 [[ 8.78265127e-01 -4.78141402e-01 -5.58261793e-03 6.61019563e+01] [ 4.78132605e-01 8.78282862e-01 -2.90293693e-03 1.79211647e+01] [ 6.29113199e-03 -1.19683381e-04 9.99980203e-01 3.51002563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.13, Y:17.93, Z:0.35 [[ 8.78492198e-01 -4.77724751e-01 -5.52458712e-03 6.61261121e+01] [ 4.77715272e-01 8.78509569e-01 -3.00946630e-03 1.79331697e+01] [ 6.29109919e-03 4.61302310e-06 9.99980211e-01 3.50923851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73185806400001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:66.16, Y:17.95, Z:0.35 [[ 8.79084697e-01 -4.76633590e-01 -5.52422803e-03 6.61576387e+01] [ 4.76624085e-01 8.79102054e-01 -3.01012532e-03 1.79455499e+01] [ 6.29108704e-03 1.31749770e-05 9.99980211e-01 3.51749737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.761858064 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:66.18, Y:17.95, Z:0.35 [[ 8.79639513e-01 -4.75608412e-01 -5.56463536e-03 6.61768305e+01] [ 4.75599357e-01 8.79657112e-01 -2.93557819e-03 1.79549873e+01] [ 6.29115675e-03 -6.42864258e-05 9.99980208e-01 3.49652490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.791858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:66.20, Y:17.97, Z:0.35 [[ 8.78820931e-01 -4.77119968e-01 -5.50514158e-03 6.62024754e+01] [ 4.77110255e-01 8.78838172e-01 -3.04493028e-03 1.79684736e+01] [ 6.29092561e-03 4.93889611e-05 9.99980211e-01 3.49505751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:17.98, Z:0.35 [[ 8.78206078e-01 -4.78250588e-01 -5.51893336e-03 6.62285664e+01] [ 4.78241056e-01 8.78223419e-01 -3.01957686e-03 1.79821447e+01] [ 6.29097094e-03 1.24302307e-05 9.99980212e-01 3.50609183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.851858064 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:66.25, Y:17.99, Z:0.35 [[ 8.77834749e-01 -4.78931746e-01 -5.52592808e-03 6.62538512e+01] [ 4.78922308e-01 8.77852142e-01 -3.00672155e-03 1.79941830e+01] [ 6.29096220e-03 -7.08557553e-06 9.99980212e-01 3.49940007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.28, Y:18.01, Z:0.35 [[ 8.78208697e-01 -4.78245766e-01 -5.52009218e-03 6.62781623e+01] [ 4.78236247e-01 8.78226046e-01 -3.01744041e-03 1.80055575e+01] [ 6.29096683e-03 1.00342456e-05 9.99980212e-01 3.50778840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.911858064 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:66.30, Y:18.02, Z:0.35 [[ 8.78210969e-01 -4.78241661e-01 -5.51425476e-03 6.63034242e+01] [ 4.78232074e-01 8.78228281e-01 -3.02815307e-03 1.80182741e+01] [ 6.29096343e-03 2.22637466e-05 9.99980211e-01 3.51513617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:18.03, Z:0.35 [[ 8.78970718e-01 -4.76843928e-01 -5.50857246e-03 6.63288974e+01] [ 4.76834249e-01 8.78987978e-01 -3.03858154e-03 1.80297371e+01] [ 6.29089813e-03 4.41481832e-05 9.99980211e-01 3.52047254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.36, Y:18.04, Z:0.35 [[ 8.78610654e-01 -4.77507108e-01 -5.50275402e-03 6.63564785e+01] [ 4.77497375e-01 8.78627884e-01 -3.04927657e-03 1.80420693e+01] [ 6.29092436e-03 5.15762873e-05 9.99980211e-01 3.50896261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:18.06, Z:0.35 [[ 8.78007415e-01 -4.78615262e-01 -5.51460456e-03 6.63817442e+01] [ 4.78605687e-01 8.78024733e-01 -3.02749443e-03 1.80552508e+01] [ 6.29096423e-03 1.88414553e-05 9.99980212e-01 3.52459140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.031858064 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:66.41, Y:18.07, Z:0.35 [[ 8.77662050e-01 -4.79248149e-01 -5.52602551e-03 6.64064347e+01] [ 4.79238719e-01 8.77679447e-01 -3.00650244e-03 1.80682131e+01] [ 6.29093975e-03 -9.59228971e-06 9.99980212e-01 3.51198282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061858064 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:66.43, Y:18.08, Z:0.35 [[ 8.77208226e-01 -4.80078366e-01 -5.52181914e-03 6.64313576e+01] [ 4.80068903e-01 8.77225605e-01 -3.01423024e-03 1.80810423e+01] [ 6.29094786e-03 -6.74609405e-06 9.99980212e-01 3.51733503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09185806400001 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:66.46, Y:18.09, Z:0.35 [[ 8.77075995e-01 -4.80319901e-01 -5.52202443e-03 6.64563934e+01] [ 4.80310445e-01 8.77093378e-01 -3.01385315e-03 1.80948512e+01] [ 6.29094470e-03 -8.90776437e-06 9.99980212e-01 3.51913542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.121858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:66.48, Y:18.11, Z:0.35 [[ 8.76241043e-01 -4.81841414e-01 -5.52143585e-03 6.64828883e+01] [ 4.81831981e-01 8.76258439e-01 -3.01493367e-03 1.81066729e+01] [ 6.29092466e-03 -1.85957542e-05 9.99980212e-01 3.54050446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.151858064 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:66.51, Y:18.12, Z:0.35 [[ 8.75697546e-01 -4.82828430e-01 -5.52398800e-03 6.65075901e+01] [ 4.82819047e-01 8.75714969e-01 -3.01025033e-03 1.81191501e+01] [ 6.29087342e-03 -3.10177872e-05 9.99980212e-01 3.52449693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.53, Y:18.13, Z:0.35 [[ 8.75516828e-01 -4.83156061e-01 -5.52305080e-03 6.65320641e+01] [ 4.83146674e-01 8.75534248e-01 -3.01196887e-03 1.81310701e+01] [ 6.29087115e-03 -3.14141889e-05 9.99980212e-01 3.54704549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.211858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:66.56, Y:18.14, Z:0.36 [[ 8.75483800e-01 -4.83215911e-01 -5.52261405e-03 6.65570980e+01] [ 4.83206520e-01 8.75501218e-01 -3.01276947e-03 1.81442832e+01] [ 6.29087347e-03 -3.09322561e-05 9.99980212e-01 3.55409913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.241858064 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:66.58, Y:18.16, Z:0.35 [[ 8.75037338e-01 -4.84023933e-01 -5.52177289e-03 6.65825689e+01] [ 4.84014548e-01 8.75054759e-01 -3.01431035e-03 1.81584235e+01] [ 6.29085199e-03 -3.49843041e-05 9.99980212e-01 3.54985276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.271858064 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:66.61, Y:18.17, Z:0.35 [[ 8.75258984e-01 -4.83622931e-01 -5.52909441e-03 6.66072776e+01] [ 4.83613623e-01 8.75276447e-01 -3.00090171e-03 1.81711774e+01] [ 6.29079099e-03 -4.73791985e-05 9.99980212e-01 3.53313157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.63, Y:18.18, Z:0.36 [[ 8.75039073e-01 -4.84020744e-01 -5.52635092e-03 6.66317241e+01] [ 4.84011412e-01 8.75056522e-01 -3.00592259e-03 1.81848989e+01] [ 6.29079830e-03 -4.45171951e-05 9.99980212e-01 3.55430059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.331858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:66.66, Y:18.20, Z:0.35 [[ 8.77299602e-01 -4.79911393e-01 -5.51941028e-03 6.66639103e+01] [ 4.79901899e-01 8.77316964e-01 -3.01861326e-03 1.81971849e+01] [ 6.29093916e-03 -5.47270055e-07 9.99980212e-01 3.53986225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.361858064 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:66.68, Y:18.21, Z:0.35 [[ 8.77557032e-01 -4.79440069e-01 -5.55666629e-03 6.66848706e+01] [ 4.79430998e-01 8.77574621e-01 -2.95011917e-03 1.82098505e+01] [ 6.29079465e-03 -7.51402393e-05 9.99980210e-01 3.52070803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.391858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:66.71, Y:18.22, Z:0.35 [[ 8.78291516e-01 -4.78093532e-01 -5.53066273e-03 6.67095816e+01] [ 4.78084133e-01 8.78308929e-01 -2.99786193e-03 1.82230830e+01] [ 6.29088886e-03 -1.11253986e-05 9.99980212e-01 3.54968284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.73, Y:18.24, Z:0.36 [[ 8.78737975e-01 -4.77272492e-01 -5.52620898e-03 6.67332512e+01] [ 4.77263025e-01 8.78755352e-01 -3.00603290e-03 1.82363432e+01] [ 6.29088253e-03 4.06005212e-06 9.99980212e-01 3.55234262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.451858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:66.76, Y:18.25, Z:0.35 [[ 8.79000315e-01 -4.76789199e-01 -5.52311360e-03 6.67591901e+01] [ 4.76779688e-01 8.79017667e-01 -3.01170945e-03 1.82507323e+01] [ 6.29086497e-03 1.39851814e-05 9.99980212e-01 3.53986024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48185806400001 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:66.78, Y:18.26, Z:0.35 [[ 8.78997369e-01 -4.76794449e-01 -5.53887397e-03 6.67845245e+01] [ 4.76785119e-01 8.79014819e-01 -2.98278921e-03 1.82644722e+01] [ 6.29092964e-03 -1.89888199e-05 9.99980212e-01 3.53640438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.81, Y:18.28, Z:0.36 [[ 8.80598742e-01 -4.73830329e-01 -5.53839060e-03 6.68143500e+01] [ 4.73820935e-01 8.80616159e-01 -2.98367399e-03 1.82759263e+01] [ 6.29095148e-03 3.21415036e-06 9.99980212e-01 3.56691643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.541858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:66.84, Y:18.29, Z:0.35 [[ 8.80388721e-01 -4.74220343e-01 -5.54678181e-03 6.68411630e+01] [ 4.74211053e-01 8.80406194e-01 -2.96839408e-03 1.82892080e+01] [ 6.29109392e-03 -1.70045731e-05 9.99980211e-01 3.54364467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.571858064 meters Centerline goodness : 0.997564 Centerline is valid? [True, True] Translation: X:66.86, Y:18.30, Z:0.36 [[ 8.78247071e-01 -4.78174705e-01 -5.57088394e-03 6.68635660e+01] [ 4.78165774e-01 8.78264734e-01 -2.92406352e-03 1.83043962e+01] [ 6.29092411e-03 -9.57558070e-05 9.99980207e-01 3.58075963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.601858064 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:66.89, Y:18.32, Z:0.36 [[ 8.77574416e-01 -4.79408264e-01 -5.55531188e-03 6.68872672e+01] [ 4.79399176e-01 8.77591996e-01 -2.95268466e-03 1.83173958e+01] [ 6.29083866e-03 -7.20114225e-05 9.99980210e-01 3.58098557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.631858064 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:66.91, Y:18.33, Z:0.36 [[ 8.76699506e-01 -4.81006421e-01 -5.54959241e-03 6.69118598e+01] [ 4.80997299e-01 8.76717068e-01 -2.96317591e-03 1.83309101e+01] [ 6.29072903e-03 -7.15241055e-05 9.99980211e-01 3.60143731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.661858064 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:66.94, Y:18.34, Z:0.36 [[ 8.75423083e-01 -4.83325611e-01 -5.54797906e-03 6.69350587e+01] [ 4.83316517e-01 8.75440658e-01 -2.96613252e-03 1.83444350e+01] [ 6.29053425e-03 -8.48090415e-05 9.99980211e-01 3.60303550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.96, Y:18.36, Z:0.36 [[ 8.73785824e-01 -4.86279353e-01 -5.54294863e-03 6.69570023e+01] [ 4.86270260e-01 8.73803400e-01 -2.97534523e-03 1.83587887e+01] [ 6.29029631e-03 -9.55565923e-05 9.99980211e-01 3.61293418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.721858064 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:66.99, Y:18.37, Z:0.36 [[ 8.74594837e-01 -4.84823062e-01 -5.52001428e-03 6.69852441e+01] [ 4.84813674e-01 8.74612256e-01 -3.01730256e-03 1.83720032e+01] [ 6.29073001e-03 -3.72611626e-05 9.99980212e-01 3.61109698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.751858064 meters Centerline goodness : 0.996626 Centerline is valid? [True, True] Translation: X:67.01, Y:18.39, Z:0.36 [[ 8.73741257e-01 -4.86359494e-01 -5.53697425e-03 6.70109466e+01] [ 4.86350333e-01 8.73758797e-01 -2.98626074e-03 1.83854954e+01] [ 6.29037622e-03 -8.36900594e-05 9.99980212e-01 3.61607049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.04, Y:18.40, Z:0.37 [[ 8.75385360e-01 -4.83394066e-01 -5.53620972e-03 6.70431199e+01] [ 4.83384837e-01 8.75402864e-01 -2.98765752e-03 1.83988146e+01] [ 6.29062976e-03 -6.07681795e-05 9.99980212e-01 3.66376244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.811858064 meters Centerline goodness : 0.996893 Centerline is valid? [True, True] Translation: X:67.06, Y:18.41, Z:0.36 [[ 8.72974027e-01 -4.87734861e-01 -5.57255493e-03 6.70599339e+01] [ 4.87726141e-01 8.72991797e-01 -2.92129771e-03 1.84138899e+01] [ 6.28961347e-03 -1.67663689e-04 9.99980206e-01 3.60642232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84185806400001 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:67.08, Y:18.43, Z:0.36 [[ 8.73101174e-01 -4.87507688e-01 -5.53121592e-03 6.70846091e+01] [ 4.87498484e-01 8.73118690e-01 -2.99675171e-03 1.84297924e+01] [ 6.29034749e-03 -7.99919422e-05 9.99980212e-01 3.59396374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.871858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.11, Y:18.44, Z:0.36 [[ 8.73850665e-01 -4.86162928e-01 -5.53382954e-03 6.71066840e+01] [ 4.86153727e-01 8.73868183e-01 -2.99198248e-03 1.84428743e+01] [ 6.29042853e-03 -7.57459757e-05 9.99980212e-01 3.60672673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:18.45, Z:0.36 [[ 8.78138369e-01 -4.78374942e-01 -5.51547468e-03 6.71499269e+01] [ 4.78365375e-01 8.78155689e-01 -3.02544395e-03 1.84540129e+01] [ 6.29074204e-03 1.83462965e-05 9.99980213e-01 3.57616999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.931858064 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:67.16, Y:18.47, Z:0.36 [[ 8.76100049e-01 -4.82096602e-01 -5.61867614e-03 6.71634486e+01] [ 4.82088321e-01 8.76118037e-01 -2.83471514e-03 1.84691516e+01] [ 6.28923005e-03 -2.25204073e-04 9.99980197e-01 3.56741872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.961858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.19, Y:18.48, Z:0.36 [[ 8.76778943e-01 -4.80861705e-01 -5.54129447e-03 6.71875265e+01] [ 4.80852490e-01 8.76796452e-01 -2.97735099e-03 1.84822222e+01] [ 6.29028140e-03 -5.40665887e-05 9.99980215e-01 3.60154298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.991858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.21, Y:18.50, Z:0.36 [[ 8.76908736e-01 -4.80625126e-01 -5.52790589e-03 6.72123224e+01] [ 4.80615751e-01 8.76926159e-01 -3.00200479e-03 1.84959613e+01] [ 6.29040421e-03 -2.43144181e-05 9.99980215e-01 3.60639581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.021858064 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:67.24, Y:18.51, Z:0.36 [[ 8.76172967e-01 -4.81965126e-01 -5.52706579e-03 6.72364004e+01] [ 4.81955769e-01 8.76190399e-01 -3.00355072e-03 1.85115941e+01] [ 6.29036868e-03 -3.21712955e-05 9.99980215e-01 3.57596376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.051858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.27, Y:18.53, Z:0.36 [[ 8.78387949e-01 -4.77916216e-01 -5.54094645e-03 6.72716142e+01] [ 4.77906938e-01 8.78405425e-01 -2.97800585e-03 1.85259936e+01] [ 6.29043470e-03 -3.22123015e-05 9.99980215e-01 3.62374548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.081858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:67.28, Y:18.55, Z:0.36 [[ 8.73700878e-01 -4.86431258e-01 -5.60408438e-03 6.72805057e+01] [ 4.86422884e-01 8.73718822e-01 -2.86310808e-03 1.85466875e+01] [ 6.28909927e-03 -2.24454844e-04 9.99980198e-01 3.62307666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.32, Y:18.56, Z:0.36 [[ 8.77382099e-01 -4.79760605e-01 -5.51497251e-03 6.73200281e+01] [ 4.79751070e-01 8.77399431e-01 -3.02477709e-03 1.85577988e+01] [ 6.29000263e-03 8.07131321e-06 9.99980218e-01 3.62747312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.33, Y:18.58, Z:0.36 [[ 8.73263989e-01 -4.87215216e-01 -5.59809842e-03 6.73286620e+01] [ 4.87206788e-01 8.73281905e-01 -2.87385874e-03 1.85784351e+01] [ 6.28890576e-03 -2.17794205e-04 9.99980201e-01 3.62937856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.171858064 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:67.35, Y:18.59, Z:0.36 [[ 8.72512561e-01 -4.88560660e-01 -5.50573194e-03 6.73531604e+01] [ 4.88551197e-01 8.72529931e-01 -3.04108393e-03 1.85937653e+01] [ 6.28966988e-03 -3.64479983e-05 9.99980219e-01 3.59145127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.39, Y:18.61, Z:0.36 [[ 8.73681104e-01 -4.86467868e-01 -5.50831914e-03 6.73869588e+01] [ 4.86458392e-01 8.73698468e-01 -3.03640342e-03 1.86093869e+01] [ 6.28972269e-03 -2.67197836e-05 9.99980219e-01 3.63805325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.40, Y:18.63, Z:0.37 [[ 8.69483982e-01 -4.93929771e-01 -5.56649230e-03 6.73972806e+01] [ 4.93921107e-01 8.69501778e-01 -2.93231978e-03 1.86294647e+01] [ 6.28843499e-03 -1.99802955e-04 9.99980208e-01 3.66304320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.261858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:67.42, Y:18.64, Z:0.37 [[ 8.69116312e-01 -4.94577324e-01 -5.48685565e-03 6.74204531e+01] [ 4.94567770e-01 8.69133631e-01 -3.07444473e-03 1.86445713e+01] [ 6.28936142e-03 -4.15718987e-05 9.99980221e-01 3.66819244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.291858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:67.44, Y:18.66, Z:0.37 [[ 8.69010430e-01 -4.94763353e-01 -5.48601660e-03 6.74439852e+01] [ 4.94753793e-01 8.69027746e-01 -3.07594121e-03 1.86600762e+01] [ 6.28936362e-03 -4.12025274e-05 9.99980221e-01 3.65290343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.321858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:67.47, Y:18.67, Z:0.37 [[ 8.68669747e-01 -4.95361337e-01 -5.47862223e-03 6.74681398e+01] [ 4.95351706e-01 8.68687023e-01 -3.08912027e-03 1.86749630e+01] [ 6.28943879e-03 -3.04195456e-05 9.99980221e-01 3.67498509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.49, Y:18.69, Z:0.37 [[ 8.68306071e-01 -4.95998471e-01 -5.48483676e-03 6.74916876e+01] [ 4.95988922e-01 8.68323393e-01 -3.07804648e-03 1.86898619e+01] [ 6.28931841e-03 -4.77318283e-05 9.99980221e-01 3.69053125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.381858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:67.51, Y:18.70, Z:0.37 [[ 8.68253247e-01 -4.96090945e-01 -5.48397445e-03 6.75142900e+01] [ 4.96081388e-01 8.68270564e-01 -3.07958203e-03 1.87035921e+01] [ 6.28932635e-03 -4.66405620e-05 9.99980221e-01 3.65684815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.411858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:67.53, Y:18.72, Z:0.37 [[ 8.66079205e-01 -4.99876830e-01 -5.47402741e-03 6.75326365e+01] [ 4.99867237e-01 8.66096503e-01 -3.09729265e-03 1.87200218e+01] [ 6.28930083e-03 -5.37862032e-05 9.99980221e-01 3.65934259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.57, Y:18.73, Z:0.37 [[ 8.68816562e-01 -4.95104308e-01 -5.43183069e-03 6.75690407e+01] [ 4.95094147e-01 8.68833539e-01 -3.17270638e-03 1.87334420e+01] [ 6.29017728e-03 6.72322625e-05 9.99980214e-01 3.72161213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:18.75, Z:0.37 [[ 8.68237114e-01 -4.96118872e-01 -5.51163437e-03 6.75896403e+01] [ 4.96109631e-01 8.68254602e-01 -3.02979849e-03 1.87482134e+01] [ 6.28864212e-03 -1.03791399e-04 9.99980221e-01 3.70063530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501858064 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:67.62, Y:18.76, Z:0.37 [[ 8.71107200e-01 -4.91062222e-01 -5.49000493e-03 6.76224125e+01] [ 4.91052635e-01 8.71124500e-01 -3.06849684e-03 1.87608172e+01] [ 6.28930067e-03 -2.28916987e-05 9.99980222e-01 3.66515014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.531858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:67.64, Y:18.78, Z:0.37 [[ 8.68853405e-01 -4.95038371e-01 -5.54723674e-03 6.76386414e+01] [ 4.95029514e-01 8.68871096e-01 -2.96606958e-03 1.87788070e+01] [ 6.28815192e-03 -1.68966253e-04 9.99980215e-01 3.71137073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561858064 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:67.67, Y:18.79, Z:0.37 [[ 8.70765618e-01 -4.91667695e-01 -5.48793293e-03 6.76712888e+01] [ 4.91658098e-01 8.70782911e-01 -3.07201176e-03 1.87922041e+01] [ 6.28920715e-03 -2.31844476e-05 9.99980222e-01 3.70117396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59185806400001 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:67.70, Y:18.81, Z:0.37 [[ 8.71053647e-01 -4.91156535e-01 -5.54996793e-03 6.76951002e+01] [ 4.91147631e-01 8.71071316e-01 -2.96106980e-03 1.88087504e+01] [ 6.28876665e-03 -1.46602949e-04 9.99980215e-01 3.69820398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.621858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:67.70, Y:18.82, Z:0.36 [[ 8.67620370e-01 -4.97196230e-01 -5.55006045e-03 6.77012765e+01] [ 4.97187450e-01 8.67638100e-01 -2.96090457e-03 1.88233692e+01] [ 6.28759449e-03 -1.90479280e-04 9.99980215e-01 3.63302883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.651858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:67.74, Y:18.84, Z:0.37 [[ 8.72117245e-01 -4.89266955e-01 -5.41823635e-03 6.77385201e+01] [ 4.89256525e-01 8.72134065e-01 -3.19766688e-03 1.88356565e+01] [ 6.28994123e-03 1.37832947e-04 9.99980209e-01 3.70719005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.681858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:67.76, Y:18.85, Z:0.37 [[ 8.72519064e-01 -4.88549139e-01 -5.49749306e-03 6.77620064e+01] [ 4.88539587e-01 8.72536382e-01 -3.05504622e-03 1.88511862e+01] [ 6.28930291e-03 -2.01569229e-05 9.99980222e-01 3.68809963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.78, Y:18.87, Z:0.36 [[ 8.71048933e-01 -4.91165488e-01 -5.49722773e-03 6.77845368e+01] [ 4.91155985e-01 8.71066279e-01 -3.05552357e-03 1.88681378e+01] [ 6.28921743e-03 -3.84857586e-05 9.99980222e-01 3.64147406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.741858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:67.80, Y:18.89, Z:0.36 [[ 8.68119815e-01 -4.96324380e-01 -5.48603778e-03 6.77972305e+01] [ 4.96314853e-01 8.68137148e-01 -3.07564635e-03 1.88859989e+01] [ 6.28915145e-03 -5.27724937e-05 9.99980222e-01 3.60122678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.771858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:67.83, Y:18.90, Z:0.37 [[ 8.71579267e-01 -4.90224808e-01 -5.40547235e-03 6.78320450e+01] [ 4.90214264e-01 8.71596015e-01 -3.21906215e-03 1.88979969e+01] [ 6.28945229e-03 1.55828179e-04 9.99980209e-01 3.66729353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.801858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:67.85, Y:18.91, Z:0.36 [[ 8.68970770e-01 -4.94833174e-01 -5.47088341e-03 6.78470404e+01] [ 4.94823448e-01 8.68987992e-01 -3.10250429e-03 1.89141423e+01] [ 6.28935403e-03 -1.11358500e-05 9.99980222e-01 3.62386444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.88, Y:18.93, Z:0.37 [[ 8.72423884e-01 -4.88720029e-01 -5.41297347e-03 6.78844874e+01] [ 4.88709535e-01 8.72440663e-01 -3.20626537e-03 1.89257369e+01] [ 6.28946426e-03 1.51850741e-04 9.99980210e-01 3.71021629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.90, Y:18.94, Z:0.36 [[ 8.69402423e-01 -4.94074127e-01 -5.49405544e-03 6.78976062e+01] [ 4.94064649e-01 8.69419780e-01 -3.06072183e-03 1.89420634e+01] [ 6.28886394e-03 -5.34196022e-05 9.99980223e-01 3.64500571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.93, Y:18.95, Z:0.37 [[ 8.71801434e-01 -4.89829295e-01 -5.43338822e-03 6.79333743e+01] [ 4.89819051e-01 8.71818359e-01 -3.16963812e-03 1.89545912e+01] [ 6.28950921e-03 1.01917996e-04 9.99980216e-01 3.72188121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.96, Y:18.97, Z:0.37 [[ 8.71656359e-01 -4.90086710e-01 -5.49619895e-03 6.79560610e+01] [ 4.90077179e-01 8.71673686e-01 -3.05669933e-03 1.89684392e+01] [ 6.28893972e-03 -2.91702678e-05 9.99980224e-01 3.71767098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.98, Y:18.98, Z:0.37 [[ 8.71342338e-01 -4.90644807e-01 -5.49583164e-03 6.79796473e+01] [ 4.90635282e-01 8.71359669e-01 -3.05735959e-03 1.89841032e+01] [ 6.28892364e-03 -3.24420585e-05 9.99980224e-01 3.70355145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.00, Y:19.00, Z:0.37 [[ 8.71562159e-01 -4.90254288e-01 -5.48959823e-03 6.80044924e+01] [ 4.90244685e-01 8.71579447e-01 -3.06855806e-03 1.89989772e+01] [ 6.28899474e-03 -1.68072665e-05 9.99980224e-01 3.71278097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:19.01, Z:0.37 [[ 8.71446598e-01 -4.90459665e-01 -5.49028625e-03 6.80294218e+01] [ 4.90450074e-01 8.71463893e-01 -3.06732224e-03 1.90129255e+01] [ 6.28898407e-03 -1.97037643e-05 9.99980224e-01 3.71458250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.041858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:68.05, Y:19.03, Z:0.37 [[ 8.72414976e-01 -4.88735074e-01 -5.48977283e-03 6.80527905e+01] [ 4.88725443e-01 8.72432248e-01 -3.06824401e-03 1.90271397e+01] [ 6.28901332e-03 -6.20963637e-06 9.99980224e-01 3.72772806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.08, Y:19.04, Z:0.37 [[ 8.72251490e-01 -4.89026889e-01 -5.48084479e-03 6.80775404e+01] [ 4.89017163e-01 8.72268709e-01 -3.08426577e-03 1.90412051e+01] [ 6.28905831e-03 1.00282463e-05 9.99980224e-01 3.73902084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.101858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.10, Y:19.06, Z:0.37 [[ 8.70913251e-01 -4.91406137e-01 -5.48801643e-03 6.80978961e+01] [ 4.91396539e-01 8.70930541e-01 -3.07139948e-03 1.90579505e+01] [ 6.28898568e-03 -2.18697733e-05 9.99980224e-01 3.69744782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.11, Y:19.07, Z:0.37 [[ 8.69500391e-01 -4.93901973e-01 -5.46909910e-03 6.81145265e+01] [ 4.93892211e-01 8.69517591e-01 -3.10531479e-03 1.90730995e+01] [ 6.28919897e-03 -1.07302478e-06 9.99980223e-01 3.67495837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.161858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:68.15, Y:19.09, Z:0.37 [[ 8.72503808e-01 -4.88577249e-01 -5.42010231e-03 6.81512892e+01] [ 4.88566834e-01 8.72520632e-01 -3.19312174e-03 1.90852508e+01] [ 6.28923773e-03 1.37928658e-04 9.99980213e-01 3.72866137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.191858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:68.17, Y:19.10, Z:0.37 [[ 8.71711480e-01 -4.89988685e-01 -5.49407919e-03 6.81733483e+01] [ 4.89979129e-01 8.71728793e-01 -3.06031367e-03 1.90991842e+01] [ 6.28886609e-03 -2.42735759e-05 9.99980225e-01 3.68744458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.221858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.19, Y:19.11, Z:0.37 [[ 8.72103356e-01 -4.89291034e-01 -5.47912650e-03 6.81919924e+01] [ 4.89281295e-01 8.72120567e-01 -3.08713869e-03 1.91136712e+01] [ 6.28896819e-03 1.14698996e-05 9.99980224e-01 3.69036597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:19.13, Z:0.37 [[ 8.72298094e-01 -4.88944091e-01 -5.45072768e-03 6.82199033e+01] [ 4.88934026e-01 8.72315121e-01 -3.13813471e-03 1.91280018e+01] [ 6.28912460e-03 7.23426953e-05 9.99980221e-01 3.69469927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.25, Y:19.14, Z:0.37 [[ 8.72930688e-01 -4.87813459e-01 -5.48119414e-03 6.82462635e+01] [ 4.87803714e-01 8.72947896e-01 -3.08335308e-03 1.91416815e+01] [ 6.28889802e-03 1.78066657e-05 9.99980225e-01 3.70897460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.27, Y:19.15, Z:0.37 [[ 8.74421641e-01 -4.85135678e-01 -5.49247130e-03 6.82710600e+01] [ 4.85126009e-01 8.74438891e-01 -3.06307560e-03 1.91545972e+01] [ 6.28883777e-03 1.38789116e-05 9.99980225e-01 3.73817852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.30, Y:19.17, Z:0.37 [[ 8.75283400e-01 -4.83579158e-01 -5.49245697e-03 6.82952743e+01] [ 4.83569457e-01 8.75300632e-01 -3.06310137e-03 1.91683042e+01] [ 6.28880304e-03 2.50973475e-05 9.99980225e-01 3.73363995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.371858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.32, Y:19.18, Z:0.37 [[ 8.75408737e-01 -4.83352211e-01 -5.49387698e-03 6.83210154e+01] [ 4.83342522e-01 8.75425976e-01 -3.06054948e-03 1.91829159e+01] [ 6.28880598e-03 2.38074015e-05 9.99980225e-01 3.73614527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.34, Y:19.19, Z:0.37 [[ 8.76019124e-01 -4.82244969e-01 -5.50313659e-03 6.83436605e+01] [ 4.82235363e-01 8.76036409e-01 -3.04390281e-03 1.91939355e+01] [ 6.28885483e-03 1.27100047e-05 9.99980225e-01 3.72389268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:19.21, Z:0.37 [[ 8.75913175e-01 -4.82437664e-01 -5.47819750e-03 6.83688675e+01] [ 4.82427781e-01 8.75930303e-01 -3.08865311e-03 1.92072384e+01] [ 6.28860179e-03 6.25572849e-05 9.99980225e-01 3.72646027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.461858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.40, Y:19.22, Z:0.37 [[ 8.75628693e-01 -4.82953767e-01 -5.48189016e-03 6.83983288e+01] [ 4.82943936e-01 8.75645851e-01 -3.08202982e-03 1.92214827e+01] [ 6.28867229e-03 5.12681332e-05 9.99980225e-01 3.72019028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:19.23, Z:0.37 [[ 8.75597574e-01 -4.83009728e-01 -5.52181639e-03 6.84225043e+01] [ 4.83000346e-01 8.75614985e-01 -3.01065349e-03 1.92344563e+01] [ 6.28916010e-03 -3.09183374e-05 9.99980223e-01 3.73374623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.521858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.45, Y:19.24, Z:0.37 [[ 8.75626433e-01 -4.82957570e-01 -5.50777806e-03 6.84479983e+01] [ 4.82948029e-01 8.75643755e-01 -3.03572842e-03 1.92449782e+01] [ 6.28897948e-03 -1.80651417e-06 9.99980224e-01 3.73246229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.551858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:68.47, Y:19.26, Z:0.37 [[ 8.75195138e-01 -4.83738710e-01 -5.50738886e-03 6.84736945e+01] [ 4.83729180e-01 8.75212466e-01 -3.03642354e-03 1.92575343e+01] [ 6.28897099e-03 -6.62158129e-06 9.99980224e-01 3.73035509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:19.27, Z:0.37 [[ 8.73016138e-01 -4.87660198e-01 -5.50941447e-03 6.84932386e+01] [ 4.87650769e-01 8.73033521e-01 -3.03280774e-03 1.92717758e+01] [ 6.28888314e-03 -3.89801007e-05 9.99980224e-01 3.68823558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.52, Y:19.28, Z:0.37 [[ 8.74058765e-01 -4.85789317e-01 -5.47861029e-03 6.85219343e+01] [ 4.85779505e-01 8.74075934e-01 -3.08773600e-03 1.92819368e+01] [ 6.28871057e-03 3.74661173e-05 9.99980225e-01 3.74705234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:68.55, Y:19.29, Z:0.37 [[ 8.74254175e-01 -4.85437485e-01 -5.48496155e-03 6.85473325e+01] [ 4.85427737e-01 8.74271381e-01 -3.07641228e-03 1.92943827e+01] [ 6.28875075e-03 2.70138036e-05 9.99980225e-01 3.74711229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.57, Y:19.31, Z:0.38 [[ 8.73852218e-01 -4.86160775e-01 -5.47741361e-03 6.85722606e+01] [ 4.86150958e-01 8.73869383e-01 -3.08986111e-03 1.93062915e+01] [ 6.28871333e-03 3.72321067e-05 9.99980225e-01 3.75537760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.60, Y:19.32, Z:0.38 [[ 8.73680809e-01 -4.86468675e-01 -5.48381780e-03 6.85975874e+01] [ 4.86458935e-01 8.73698019e-01 -3.07845297e-03 1.93161189e+01] [ 6.28877168e-03 2.19331118e-05 9.99980225e-01 3.75809601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.62, Y:19.33, Z:0.38 [[ 8.73355830e-01 -4.87051874e-01 -5.48324140e-03 6.86230878e+01] [ 4.87042139e-01 8.73373043e-01 -3.07947930e-03 1.93282685e+01] [ 6.28878139e-03 1.89115806e-05 9.99980225e-01 3.76240757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.65, Y:19.34, Z:0.38 [[ 8.73393203e-01 -4.86984863e-01 -5.48240007e-03 6.86489006e+01] [ 4.86975117e-01 8.73410409e-01 -3.08097638e-03 1.93405118e+01] [ 6.28877415e-03 2.11114107e-05 9.99980225e-01 3.76578250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.791858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:68.68, Y:19.35, Z:0.38 [[ 8.72854650e-01 -4.87949497e-01 -5.48153600e-03 6.86764783e+01] [ 4.87939761e-01 8.72871862e-01 -3.08251293e-03 1.93525519e+01] [ 6.28878917e-03 1.59263776e-05 9.99980225e-01 3.77126044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:19.36, Z:0.38 [[ 8.73422282e-01 -4.86932565e-01 -5.49483837e-03 6.87055814e+01] [ 4.86922958e-01 8.73439567e-01 -3.05884753e-03 1.93635303e+01] [ 6.28886173e-03 -3.89735902e-06 9.99980225e-01 3.76191821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.73, Y:19.37, Z:0.38 [[ 8.71268142e-01 -4.90776318e-01 -5.51633570e-03 6.87303149e+01] [ 4.90767028e-01 8.71285602e-01 -3.02059038e-03 1.93749317e+01] [ 6.28873809e-03 -7.54915074e-05 9.99980223e-01 3.76816268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.75, Y:19.39, Z:0.38 [[ 8.72371770e-01 -4.88811993e-01 -5.50722245e-03 6.87539030e+01] [ 4.88802562e-01 8.72389152e-01 -3.03681005e-03 1.93851243e+01] [ 6.28887030e-03 -4.27170819e-05 9.99980224e-01 3.76715849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.78, Y:19.40, Z:0.38 [[ 8.72071583e-01 -4.89347623e-01 -5.48256471e-03 6.87788965e+01] [ 4.89337926e-01 8.72088816e-01 -3.08064471e-03 1.93973405e+01] [ 6.28878954e-03 3.71585509e-06 9.99980225e-01 3.76432500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.941858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:68.81, Y:19.41, Z:0.38 [[ 8.72805835e-01 -4.88036819e-01 -5.48063489e-03 6.88054167e+01] [ 4.88027074e-01 8.72823042e-01 -3.08407415e-03 1.94077452e+01] [ 6.28876616e-03 1.70996984e-05 9.99980225e-01 3.75753438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.83, Y:19.42, Z:0.38 [[ 8.73274795e-01 -4.87197188e-01 -5.48021544e-03 6.88310654e+01] [ 4.87187423e-01 8.73291990e-01 -3.08481930e-03 1.94201692e+01] [ 6.28874354e-03 2.40029030e-05 9.99980225e-01 3.75185520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.86, Y:19.43, Z:0.38 [[ 8.73724187e-01 -4.86390868e-01 -5.47439056e-03 6.88569074e+01] [ 4.86381022e-01 8.73741336e-01 -3.09515986e-03 1.94318499e+01] [ 6.28865881e-03 4.16763594e-05 9.99980225e-01 3.75277925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.88, Y:19.44, Z:0.37 [[ 8.74295279e-01 -4.85363520e-01 -5.47894876e-03 6.88833925e+01] [ 4.85353704e-01 8.74312445e-01 -3.08706995e-03 1.94407343e+01] [ 6.28866422e-03 3.97826060e-05 9.99980225e-01 3.74531601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.91, Y:19.45, Z:0.38 [[ 8.74086915e-01 -4.85738665e-01 -5.47855473e-03 6.89109440e+01] [ 4.85728852e-01 8.74104083e-01 -3.08776906e-03 1.94533196e+01] [ 6.28867588e-03 3.78864343e-05 9.99980225e-01 3.76177310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.93, Y:19.47, Z:0.38 [[ 8.73031912e-01 -4.87632194e-01 -5.48847904e-03 6.89313287e+01] [ 4.87622529e-01 8.73049164e-01 -3.07017543e-03 1.94653270e+01] [ 6.28882842e-03 4.05509623e-06 9.99980225e-01 3.76463919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.96, Y:19.48, Z:0.38 [[ 8.73309934e-01 -4.87134612e-01 -5.44327598e-03 6.89571612e+01] [ 4.87124436e-01 8.73326892e-01 -3.15021899e-03 1.94767653e+01] [ 6.28834000e-03 9.95647978e-05 9.99980223e-01 3.77238496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.99, Y:19.49, Z:0.38 [[ 8.74424584e-01 -4.85130872e-01 -5.44832386e-03 6.89873947e+01] [ 4.85120713e-01 8.74441551e-01 -3.14128113e-03 1.94859928e+01] [ 6.28817322e-03 1.03718693e-04 9.99980224e-01 3.78193946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.01, Y:19.50, Z:0.38 [[ 8.74288773e-01 -4.85375270e-01 -5.47624877e-03 6.90121897e+01] [ 4.85365424e-01 8.74305922e-01 -3.09182040e-03 1.94975177e+01] [ 6.28860989e-03 4.51620572e-05 9.99980225e-01 3.78384077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:19.51, Z:0.38 [[ 8.74001387e-01 -4.85892571e-01 -5.47587130e-03 6.90373229e+01] [ 4.85882731e-01 8.74018540e-01 -3.09248878e-03 1.95097666e+01] [ 6.28863037e-03 4.22081795e-05 9.99980225e-01 3.78860842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.06, Y:19.52, Z:0.38 [[ 8.73689507e-01 -4.86453152e-01 -5.47501134e-03 6.90620151e+01] [ 4.86443314e-01 8.73706661e-01 -3.09401054e-03 1.95200916e+01] [ 6.28864505e-03 3.99218825e-05 9.99980225e-01 3.80237125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.09, Y:19.53, Z:0.38 [[ 8.73526521e-01 -4.86745774e-01 -5.47434362e-03 6.90869840e+01] [ 4.86735934e-01 8.73543674e-01 -3.09519151e-03 1.95328853e+01] [ 6.28864962e-03 3.91721202e-05 9.99980225e-01 3.80792846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.11, Y:19.55, Z:0.38 [[ 8.73503135e-01 -4.86787750e-01 -5.47348269e-03 6.91116592e+01] [ 4.86777901e-01 8.73520283e-01 -3.09671321e-03 1.95461262e+01] [ 6.28864020e-03 4.06182804e-05 9.99980225e-01 3.81374046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.13, Y:19.56, Z:0.38 [[ 8.73998433e-01 -4.85897920e-01 -5.47262248e-03 6.91347962e+01] [ 4.85888045e-01 8.74015566e-01 -3.09823265e-03 1.95598489e+01] [ 6.28858204e-03 4.87686460e-05 9.99980225e-01 3.81501380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.361858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:69.16, Y:19.57, Z:0.38 [[ 8.74736470e-01 -4.84568018e-01 -5.47203823e-03 6.91590401e+01] [ 4.84558110e-01 8.74753584e-01 -3.09926420e-03 1.95740762e+01] [ 6.28848937e-03 5.95189177e-05 9.99980225e-01 3.80447371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:19.59, Z:0.38 [[ 8.74843406e-01 -4.84374939e-01 -5.47120495e-03 6.91833890e+01] [ 4.84365018e-01 8.74860511e-01 -3.10073452e-03 1.95877433e+01] [ 6.28845925e-03 6.25968572e-05 9.99980225e-01 3.80211168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.21, Y:19.60, Z:0.38 [[ 8.75054897e-01 -4.83992771e-01 -5.47035762e-03 6.92068192e+01] [ 4.83982834e-01 8.75071993e-01 -3.10222867e-03 1.96010488e+01] [ 6.28841300e-03 6.70612034e-05 9.99980225e-01 3.78787730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.23, Y:19.62, Z:0.38 [[ 8.74656807e-01 -4.84711820e-01 -5.46999062e-03 6.92307030e+01] [ 4.84701892e-01 8.74673909e-01 -3.10287565e-03 1.96155832e+01] [ 6.28845858e-03 6.26365012e-05 9.99980225e-01 3.79501074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.25, Y:19.63, Z:0.38 [[ 8.75081986e-01 -4.83943805e-01 -5.46913036e-03 6.92526715e+01] [ 4.83933852e-01 8.75099074e-01 -3.10439120e-03 1.96282430e+01] [ 6.28838180e-03 6.98994977e-05 9.99980225e-01 3.77183468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:19.64, Z:0.38 [[ 8.73769501e-01 -4.86309765e-01 -5.44713328e-03 6.92797044e+01] [ 4.86299617e-01 8.73786475e-01 -3.14309733e-03 1.96439528e+01] [ 6.28815031e-03 9.74037539e-05 9.99980225e-01 3.78844516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:19.66, Z:0.38 [[ 8.72186536e-01 -4.89142872e-01 -5.46785000e-03 6.93039746e+01] [ 4.89133008e-01 8.72203674e-01 -3.10663476e-03 1.96585101e+01] [ 6.28866711e-03 3.50590949e-05 9.99980226e-01 3.78355173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:19.67, Z:0.38 [[ 8.71276288e-01 -4.90762409e-01 -5.46700277e-03 6.93283363e+01] [ 4.90752567e-01 8.71293439e-01 -3.10812498e-03 1.96726183e+01] [ 6.28871455e-03 2.50899554e-05 9.99980226e-01 3.78418906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.35, Y:19.69, Z:0.38 [[ 8.70235477e-01 -4.92605660e-01 -5.46615362e-03 6.93529852e+01] [ 4.92595845e-01 8.70252644e-01 -3.10961763e-03 1.96865928e+01] [ 6.28874989e-03 1.34950196e-05 9.99980226e-01 3.78355980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.38, Y:19.70, Z:0.38 [[ 8.68943467e-01 -4.94881179e-01 -5.46530957e-03 6.93794919e+01] [ 4.94871400e-01 8.68960654e-01 -3.11110038e-03 1.97014746e+01] [ 6.28876401e-03 -1.25504873e-06 9.99980226e-01 3.75968385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.40, Y:19.72, Z:0.38 [[ 8.67192805e-01 -4.97942400e-01 -5.47778009e-03 6.94041083e+01] [ 4.97932820e-01 8.67210104e-01 -3.08919641e-03 1.97152788e+01] [ 6.28862812e-03 -4.86375926e-05 9.99980225e-01 3.76220990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.43, Y:19.73, Z:0.38 [[ 8.66922402e-01 -4.98413026e-01 -5.47757169e-03 6.94270349e+01] [ 4.98403453e-01 8.66939705e-01 -3.08956230e-03 1.97286728e+01] [ 6.28860249e-03 -5.16298714e-05 9.99980225e-01 3.79153479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:19.74, Z:0.38 [[ 8.65998696e-01 -5.00016407e-01 -5.46370219e-03 6.94516521e+01] [ 5.00006712e-01 8.66015930e-01 -3.11389800e-03 1.97429041e+01] [ 6.28865322e-03 -3.52561607e-05 9.99980226e-01 3.80044725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:19.76, Z:0.38 [[ 8.65708415e-01 -5.00518829e-01 -5.46283397e-03 6.94748627e+01] [ 5.00509135e-01 8.65725650e-01 -3.11542041e-03 1.97561627e+01] [ 6.28864206e-03 -3.71526389e-05 9.99980226e-01 3.79902352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:19.77, Z:0.38 [[ 8.65336370e-01 -5.01161778e-01 -5.46245683e-03 6.94989829e+01] [ 5.01152092e-01 8.65353610e-01 -3.11608153e-03 1.97701182e+01] [ 6.28861769e-03 -4.10629882e-05 9.99980226e-01 3.80913042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.811858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:69.52, Y:19.78, Z:0.38 [[ 8.65042199e-01 -5.01669378e-01 -5.46159879e-03 6.95236061e+01] [ 5.01659693e-01 8.65059439e-01 -3.11758469e-03 1.97844333e+01] [ 6.28860436e-03 -4.30216538e-05 9.99980226e-01 3.81193094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.55, Y:19.80, Z:0.38 [[ 8.65151826e-01 -5.01480307e-01 -5.46073049e-03 6.95471591e+01] [ 5.01470608e-01 8.65169059e-01 -3.11910486e-03 1.97989496e+01] [ 6.28862472e-03 -3.98965688e-05 9.99980226e-01 3.79944850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.57, Y:19.81, Z:0.38 [[ 8.65107945e-01 -5.01556091e-01 -5.45263927e-03 6.95710192e+01] [ 5.01546304e-01 8.65125128e-01 -3.13326349e-03 1.98126795e+01] [ 6.28872263e-03 -2.41399358e-05 9.99980225e-01 3.80111205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.60, Y:19.83, Z:0.38 [[ 8.64632167e-01 -5.02375844e-01 -5.45221863e-03 6.95957545e+01] [ 5.02366070e-01 8.64649357e-01 -3.13399936e-03 1.98271553e+01] [ 6.28870291e-03 -2.92529884e-05 9.99980225e-01 3.82191484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:19.84, Z:0.38 [[ 8.64560379e-01 -5.02499299e-01 -5.45945377e-03 6.96200427e+01] [ 5.02489607e-01 8.64577615e-01 -3.12134458e-03 1.98414667e+01] [ 6.28859499e-03 -4.47279281e-05 9.99980226e-01 3.82739808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.961858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:69.64, Y:19.86, Z:0.38 [[ 8.64555516e-01 -5.02507676e-01 -5.45860364e-03 6.96439006e+01] [ 5.02497974e-01 8.64572746e-01 -3.12283058e-03 1.98555984e+01] [ 6.28860628e-03 -4.30768690e-05 9.99980226e-01 3.83982612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.991858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:69.67, Y:19.87, Z:0.38 [[ 8.65152811e-01 -5.01478640e-01 -5.45773346e-03 6.96654174e+01] [ 5.01468908e-01 8.65170025e-01 -3.12435066e-03 1.98681218e+01] [ 6.28866251e-03 -3.38428804e-05 9.99980226e-01 3.82820162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.021858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:69.69, Y:19.88, Z:0.39 [[ 8.64378864e-01 -5.02811684e-01 -5.43963579e-03 6.96925133e+01] [ 5.02801780e-01 8.64395980e-01 -3.15594004e-03 1.98836191e+01] [ 6.28884283e-03 -7.13069423e-06 9.99980225e-01 3.85419184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.051858064 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:69.72, Y:19.90, Z:0.39 [[ 8.64381826e-01 -5.02806406e-01 -5.45679947e-03 6.97166130e+01] [ 5.02796690e-01 8.64399050e-01 -3.12597862e-03 1.98979969e+01] [ 6.28861435e-03 -4.16216016e-05 9.99980226e-01 3.85863872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.74, Y:19.91, Z:0.39 [[ 8.65168806e-01 -5.01451064e-01 -5.45593984e-03 6.97397525e+01] [ 5.01441312e-01 8.65186009e-01 -3.12747825e-03 1.99124184e+01] [ 6.28868011e-03 -3.00370044e-05 9.99980226e-01 3.85747566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.111858064 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:69.76, Y:19.93, Z:0.39 [[ 8.65596240e-01 -5.00712877e-01 -5.45556808e-03 6.97638249e+01] [ 5.00703106e-01 8.65613432e-01 -3.12812662e-03 1.99263010e+01] [ 6.28870629e-03 -2.39252470e-05 9.99980226e-01 3.86611004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141858064 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:69.79, Y:19.94, Z:0.39 [[ 8.66086220e-01 -4.99864888e-01 -5.45467503e-03 6.97876297e+01] [ 4.99855091e-01 8.66103396e-01 -3.12968310e-03 1.99395398e+01] [ 6.28873126e-03 -1.59716795e-05 9.99980226e-01 3.86532738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.171858064 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:69.81, Y:19.95, Z:0.39 [[ 8.66539139e-01 -4.99079324e-01 -5.45428899e-03 6.98116273e+01] [ 4.99069507e-01 8.66556304e-01 -3.13035574e-03 1.99532071e+01] [ 6.28874433e-03 -9.49354725e-06 9.99980226e-01 3.85633033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201858064 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:69.84, Y:19.97, Z:0.39 [[ 8.67450490e-01 -4.97493626e-01 -5.45342310e-03 6.98363739e+01] [ 4.97483768e-01 8.67467632e-01 -3.13186349e-03 1.99682486e+01] [ 6.28875014e-03 3.74704227e-06 9.99980226e-01 3.85294537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23185806400001 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:69.86, Y:19.98, Z:0.38 [[ 8.67645043e-01 -4.97154250e-01 -5.45266916e-03 6.98615878e+01] [ 4.97144377e-01 8.67662176e-01 -3.13317557e-03 1.99831847e+01] [ 6.28874634e-03 7.72044228e-06 9.99980226e-01 3.84646941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.261858064 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:69.89, Y:20.00, Z:0.38 [[ 8.67695494e-01 -4.97066199e-01 -5.45190231e-03 6.98858741e+01] [ 4.97056316e-01 8.67712622e-01 -3.13450937e-03 1.99972920e+01] [ 6.28874310e-03 9.89718362e-06 9.99980226e-01 3.83620779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.291858064 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:69.91, Y:20.01, Z:0.38 [[ 8.67284347e-01 -4.97783228e-01 -5.45149046e-03 6.99110324e+01] [ 4.97773354e-01 8.67301480e-01 -3.13522548e-03 2.00117357e+01] [ 6.28874841e-03 5.52529605e-06 9.99980226e-01 3.83187828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.321858064 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:69.94, Y:20.03, Z:0.38 [[ 8.66693619e-01 -4.98811046e-01 -5.45073088e-03 6.99353930e+01] [ 4.98801185e-01 8.66710759e-01 -3.13654548e-03 2.00254336e+01] [ 6.28875064e-03 -4.07067932e-07 9.99980226e-01 3.84083703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.351858064 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:69.96, Y:20.04, Z:0.39 [[ 8.66007492e-01 -5.00001324e-01 -5.44986948e-03 6.99599186e+01] [ 4.99991476e-01 8.66024640e-01 -3.13804148e-03 2.00390050e+01] [ 6.28874615e-03 -7.32085609e-06 9.99980226e-01 3.85436066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.381858064 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:69.98, Y:20.05, Z:0.39 [[ 8.64707593e-01 -5.02246043e-01 -5.44900767e-03 6.99845827e+01] [ 5.02236231e-01 8.64724761e-01 -3.13953725e-03 2.00513390e+01] [ 6.28871202e-03 -2.19073774e-05 9.99980226e-01 3.87334155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.411858064 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:70.01, Y:20.06, Z:0.39 [[ 8.63886246e-01 -5.03657488e-01 -5.44874137e-03 7.00088999e+01] [ 5.03647700e-01 8.63903429e-01 -3.13999935e-03 2.00649315e+01] [ 6.28867054e-03 -3.16438081e-05 9.99980226e-01 3.89133304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.441858064 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:70.03, Y:20.08, Z:0.39 [[ 8.63104601e-01 -5.04995810e-01 -5.44787768e-03 7.00329149e+01] [ 5.04986040e-01 8.63121793e-01 -3.14149713e-03 2.00786342e+01] [ 6.28862485e-03 -3.96615513e-05 9.99980226e-01 3.90096665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.471858064 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:70.06, Y:20.09, Z:0.39 [[ 8.62360572e-01 -5.06265319e-01 -5.44701442e-03 7.00571681e+01] [ 5.06255565e-01 8.62377774e-01 -3.14299323e-03 2.00929029e+01] [ 6.28857264e-03 -4.71879185e-05 9.99980226e-01 3.90398198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501858064 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:70.09, Y:20.11, Z:0.39 [[ 8.61982614e-01 -5.06908583e-01 -5.44615350e-03 7.00888164e+01] [ 5.06898833e-01 8.61999818e-01 -3.14448431e-03 2.01073851e+01] [ 6.28854941e-03 -5.01580500e-05 9.99980226e-01 3.91723980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.531858064 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:70.11, Y:20.12, Z:0.39 [[ 8.61609765e-01 -5.07541559e-01 -5.49349788e-03 7.01127318e+01] [ 5.07532342e-01 8.61627265e-01 -3.06241021e-03 2.01216254e+01] [ 6.28764801e-03 -1.49525304e-04 9.99980221e-01 3.91562164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561858064 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:70.13, Y:20.14, Z:0.39 [[ 8.59407710e-01 -5.11261402e-01 -5.49238502e-03 7.01312246e+01] [ 5.11252249e-01 8.59425243e-01 -3.06434071e-03 2.01385008e+01] [ 6.28697346e-03 -1.74476155e-04 9.99980222e-01 3.91510214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59185806400001 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:70.16, Y:20.15, Z:0.39 [[ 8.60169789e-01 -5.09978676e-01 -5.44835295e-03 7.01578498e+01] [ 5.09969011e-01 8.60187040e-01 -3.14059803e-03 2.01530460e+01] [ 6.28824062e-03 -7.70436222e-05 9.99980226e-01 3.92400989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.621858064 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:70.18, Y:20.17, Z:0.39 [[ 8.61437726e-01 -5.07833883e-01 -5.45812785e-03 7.01806356e+01] [ 5.07824283e-01 8.61455014e-01 -3.12366935e-03 2.01676770e+01] [ 6.28823674e-03 -8.09232384e-05 9.99980226e-01 3.91939913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.651858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:70.20, Y:20.18, Z:0.39 [[ 8.61529415e-01 -5.07678459e-01 -5.44516551e-03 7.02047605e+01] [ 5.07668714e-01 8.61546621e-01 -3.14610412e-03 2.01830469e+01] [ 6.28847324e-03 -5.38789313e-05 9.99980226e-01 3.92069135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.681858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:70.23, Y:20.20, Z:0.39 [[ 8.61698139e-01 -5.07392034e-01 -5.44432718e-03 7.02283817e+01] [ 5.07382273e-01 8.61715337e-01 -3.14755419e-03 2.01979864e+01] [ 6.28850415e-03 -5.01135126e-05 9.99980226e-01 3.91882542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:20.21, Z:0.39 [[ 8.62321534e-01 -5.06331848e-01 -5.44349078e-03 7.02509696e+01] [ 5.06322057e-01 8.62338714e-01 -3.14900002e-03 2.02136709e+01] [ 6.28857184e-03 -4.07089186e-05 9.99980226e-01 3.91529041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.741858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:70.27, Y:20.23, Z:0.39 [[ 8.62659415e-01 -5.05755973e-01 -5.44323131e-03 7.02744982e+01] [ 5.05746168e-01 8.62676587e-01 -3.14944847e-03 2.02286509e+01] [ 6.28860058e-03 -3.59920004e-05 9.99980226e-01 3.91743222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.771858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.28, Y:20.25, Z:0.38 [[ 8.58713327e-01 -5.12427364e-01 -5.44239652e-03 7.02842994e+01] [ 5.12417683e-01 8.58730569e-01 -3.15089036e-03 2.02479863e+01] [ 6.28815470e-03 -8.30686767e-05 9.99980226e-01 3.84640467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.32, Y:20.26, Z:0.39 [[ 8.63434192e-01 -5.04433065e-01 -5.35533605e-03 7.03222105e+01] [ 5.04422286e-01 8.63450787e-01 -3.30097184e-03 2.02594702e+01] [ 6.28918847e-03 1.48821099e-04 9.99980212e-01 3.91158719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.831858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:70.33, Y:20.28, Z:0.38 [[ 8.60381492e-01 -5.09621494e-01 -5.44252478e-03 7.03337714e+01] [ 5.09611760e-01 8.60398704e-01 -3.15034509e-03 2.02798191e+01] [ 6.28822484e-03 -6.30760243e-05 9.99980227e-01 3.84756744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.861858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.37, Y:20.29, Z:0.39 [[ 8.64388545e-01 -5.02795773e-01 -5.37156256e-03 7.03690568e+01] [ 5.02785138e-01 8.64405226e-01 -3.27272872e-03 2.02916592e+01] [ 6.28872091e-03 1.28167398e-04 9.99980218e-01 3.90767735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.39, Y:20.31, Z:0.39 [[ 8.62062750e-01 -5.06772332e-01 -5.44233090e-03 7.03858582e+01] [ 5.06762541e-01 8.62079927e-01 -3.15047927e-03 2.03091520e+01] [ 6.28829996e-03 -4.20586110e-05 9.99980228e-01 3.87000442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:70.42, Y:20.32, Z:0.39 [[ 8.64695990e-01 -5.02266549e-01 -5.39979105e-03 7.04170092e+01] [ 5.02256209e-01 8.64712847e-01 -3.22388307e-03 2.03210515e+01] [ 6.28851732e-03 7.56001834e-05 9.99980224e-01 3.91707645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.44, Y:20.34, Z:0.39 [[ 8.64301911e-01 -5.02943926e-01 -5.44194956e-03 7.04401583e+01] [ 5.02934054e-01 8.64319043e-01 -3.15107479e-03 2.03370531e+01] [ 6.28839456e-03 -1.34617947e-05 9.99980228e-01 3.93898147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.46, Y:20.35, Z:0.39 [[ 8.64170102e-01 -5.03170379e-01 -5.44105362e-03 7.04629817e+01] [ 5.03160503e-01 8.64187231e-01 -3.15262108e-03 2.03521160e+01] [ 6.28839460e-03 -1.33223985e-05 9.99980228e-01 3.93714786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.49, Y:20.37, Z:0.39 [[ 8.63840382e-01 -5.03736235e-01 -5.44066531e-03 7.04866384e+01] [ 5.03726366e-01 8.63857514e-01 -3.15329107e-03 2.03677483e+01] [ 6.28838658e-03 -1.66664051e-05 9.99980228e-01 3.93355944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.51, Y:20.38, Z:0.39 [[ 8.63277910e-01 -5.04699573e-01 -5.43978259e-03 7.05098150e+01] [ 5.04689713e-01 8.63295048e-01 -3.15481313e-03 2.03845340e+01] [ 6.28837021e-03 -2.19218306e-05 9.99980228e-01 3.93608280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.071858064 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:70.53, Y:20.40, Z:0.39 [[ 8.63933803e-01 -5.03576014e-01 -5.43889997e-03 7.05322350e+01] [ 5.03566123e-01 8.63950923e-01 -3.15633403e-03 2.03983568e+01] [ 6.28839676e-03 -1.19821080e-05 9.99980228e-01 3.93016334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:20.41, Z:0.39 [[ 8.63805768e-01 -5.03795863e-01 -5.41516596e-03 7.05572711e+01] [ 5.03785719e-01 8.63822741e-01 -3.19719551e-03 2.04134292e+01] [ 6.28847738e-03 3.36726480e-05 9.99980227e-01 3.93659214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.58, Y:20.43, Z:0.39 [[ 8.63098535e-01 -5.05006433e-01 -5.42412563e-03 7.05835107e+01] [ 5.04996410e-01 8.63115579e-01 -3.18174361e-03 2.04293830e+01] [ 6.28844833e-03 6.99428114e-06 9.99980227e-01 3.93887364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.61, Y:20.45, Z:0.39 [[ 8.62957517e-01 -5.05247195e-01 -5.44024943e-03 7.06063162e+01] [ 5.05237352e-01 8.62974664e-01 -3.15393151e-03 2.04454961e+01] [ 6.28831248e-03 -2.69083096e-05 9.99980228e-01 3.94163245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.63, Y:20.46, Z:0.39 [[ 8.63721480e-01 -5.03940095e-01 -5.43937775e-03 7.06267167e+01] [ 5.03930216e-01 8.63738607e-01 -3.15543412e-03 2.04593883e+01] [ 6.28835033e-03 -1.56505787e-05 9.99980228e-01 3.93111005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.65, Y:20.48, Z:0.39 [[ 8.62760355e-01 -5.05584052e-01 -5.41630706e-03 7.06525152e+01] [ 5.05573955e-01 8.62777356e-01 -3.19519514e-03 2.04766916e+01] [ 6.28850679e-03 1.83439044e-05 9.99980227e-01 3.93905629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.251858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.68, Y:20.49, Z:0.39 [[ 8.61701145e-01 -5.07386982e-01 -5.43949682e-03 7.06757831e+01] [ 5.07377173e-01 8.61718312e-01 -3.15521672e-03 2.04925475e+01] [ 6.28822991e-03 -4.10226540e-05 9.99980228e-01 3.93783046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:20.51, Z:0.39 [[ 8.60833425e-01 -5.08857776e-01 -5.43860913e-03 7.06997378e+01] [ 5.08847987e-01 8.60850603e-01 -3.15674609e-03 2.05072392e+01] [ 6.28816474e-03 -4.99927606e-05 9.99980228e-01 3.94026918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.72, Y:20.52, Z:0.39 [[ 8.59771040e-01 -5.10650751e-01 -5.43772122e-03 7.07239772e+01] [ 5.10640988e-01 8.59788234e-01 -3.15827482e-03 2.05221597e+01] [ 6.28806414e-03 -6.13301104e-05 9.99980228e-01 3.93805110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.75, Y:20.54, Z:0.39 [[ 8.57674797e-01 -5.14163771e-01 -5.43683333e-03 7.07469162e+01] [ 5.14154069e-01 8.57692025e-01 -3.15980255e-03 2.05372114e+01] [ 6.28778458e-03 -8.52869619e-05 9.99980228e-01 3.93206932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.371858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.77, Y:20.55, Z:0.39 [[ 8.56262133e-01 -5.16512962e-01 -5.43327951e-03 7.07712092e+01] [ 5.16503268e-01 8.56279365e-01 -3.16591455e-03 2.05524252e+01] [ 6.28764103e-03 -9.54538780e-05 9.99980228e-01 3.92911174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.79, Y:20.57, Z:0.39 [[ 8.55264041e-01 -5.18163944e-01 -5.43570254e-03 7.07946802e+01] [ 5.18154310e-01 8.55281307e-01 -3.16174886e-03 2.05669625e+01] [ 6.28735903e-03 -1.12402590e-04 9.99980228e-01 3.92561079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.82, Y:20.58, Z:0.39 [[ 8.55055092e-01 -5.18508682e-01 -5.43482173e-03 7.08229313e+01] [ 5.18499045e-01 8.55072356e-01 -3.16326218e-03 2.05815701e+01] [ 6.28734473e-03 -1.13186438e-04 9.99980228e-01 3.90733736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:20.60, Z:0.39 [[ 8.52683739e-01 -5.22398797e-01 -5.47164303e-03 7.08430316e+01] [ 5.22389643e-01 8.52701267e-01 -3.09996312e-03 2.05980189e+01] [ 6.28509395e-03 -2.15041509e-04 9.99980225e-01 3.89493535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:20.61, Z:0.39 [[ 8.53635520e-01 -5.20842347e-01 -5.44501484e-03 7.08714600e+01] [ 5.20832869e-01 8.53652873e-01 -3.14567106e-03 2.06120613e+01] [ 6.28655126e-03 -1.50686150e-04 9.99980228e-01 3.90440102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.521858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.89, Y:20.63, Z:0.39 [[ 8.52079294e-01 -5.23384035e-01 -5.47982861e-03 7.08891350e+01] [ 5.23374992e-01 8.52096881e-01 -3.08588783e-03 2.06274769e+01] [ 6.28444929e-03 -2.38584132e-04 9.99980224e-01 3.91368749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.551858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:70.91, Y:20.64, Z:0.39 [[ 8.51702396e-01 -5.23997638e-01 -5.43175952e-03 7.09120241e+01] [ 5.23988081e-01 8.51719704e-01 -3.16829799e-03 2.06422876e+01] [ 6.28651727e-03 -1.47730256e-04 9.99980229e-01 3.91139055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.581858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.94, Y:20.66, Z:0.39 [[ 8.51842723e-01 -5.23769488e-01 -5.43137136e-03 7.09384028e+01] [ 5.23759921e-01 8.51860025e-01 -3.16896326e-03 2.06590170e+01] [ 6.28657441e-03 -1.45276349e-04 9.99980229e-01 3.90188563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:20.67, Z:0.39 [[ 8.51556778e-01 -5.24234051e-01 -5.45100413e-03 7.09583011e+01] [ 5.24224709e-01 8.51574204e-01 -3.13531538e-03 2.06741218e+01] [ 6.28557359e-03 -1.87651989e-04 9.99980228e-01 3.92944679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.98, Y:20.69, Z:0.39 [[ 8.52378161e-01 -5.22897681e-01 -5.43006771e-03 7.09817788e+01] [ 5.22888083e-01 8.52395446e-01 -3.17116537e-03 2.06893636e+01] [ 6.28676001e-03 -1.36285588e-04 9.99980229e-01 3.91197249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.671858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:71.00, Y:20.70, Z:0.39 [[ 8.52789255e-01 -5.22226882e-01 -5.43787612e-03 7.10036701e+01] [ 5.22217355e-01 8.52806580e-01 -3.15779419e-03 2.07044798e+01] [ 6.28654155e-03 -1.46820334e-04 9.99980229e-01 3.93162052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.03, Y:20.72, Z:0.39 [[ 8.52947633e-01 -5.21968299e-01 -5.42501445e-03 7.10302139e+01] [ 5.21958627e-01 8.52964877e-01 -3.17980777e-03 2.07203883e+01] [ 6.28710563e-03 -1.19423579e-04 9.99980229e-01 3.90606678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73185806400001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.05, Y:20.74, Z:0.39 [[ 8.53458713e-01 -5.21131994e-01 -5.44704520e-03 7.10529660e+01] [ 5.21122545e-01 8.53476081e-01 -3.14213382e-03 2.07354284e+01] [ 6.28638925e-03 -1.56896565e-04 9.99980228e-01 3.90537040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:20.75, Z:0.39 [[ 8.54015863e-01 -5.20218486e-01 -5.44351090e-03 7.10758690e+01] [ 5.20208980e-01 8.54033200e-01 -3.14817288e-03 2.07513067e+01] [ 6.28667676e-03 -1.43173672e-04 9.99980228e-01 3.90298927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:20.77, Z:0.39 [[ 8.53863519e-01 -5.20468506e-01 -5.44285018e-03 7.10996261e+01] [ 5.20458998e-01 8.53880854e-01 -3.14930079e-03 2.07653428e+01] [ 6.28665744e-03 -1.43707291e-04 9.99980228e-01 3.90471972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.12, Y:20.78, Z:0.39 [[ 8.55157643e-01 -5.18339452e-01 -5.44222233e-03 7.11191804e+01] [ 5.18329893e-01 8.55174951e-01 -3.15037199e-03 2.07828348e+01] [ 6.28701430e-03 -1.26801837e-04 9.99980228e-01 3.89225495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.14, Y:20.80, Z:0.39 [[ 8.57324663e-01 -5.14747464e-01 -5.42868161e-03 7.11410911e+01] [ 5.14737687e-01 8.57341847e-01 -3.17346449e-03 2.07965842e+01] [ 6.28776872e-03 -7.36576418e-05 9.99980229e-01 3.92628534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.17, Y:20.81, Z:0.39 [[ 8.58178448e-01 -5.13322941e-01 -5.41381030e-03 7.11691881e+01] [ 5.13312975e-01 8.58195524e-01 -3.19881166e-03 2.08126397e+01] [ 6.28813117e-03 -3.38278405e-05 9.99980229e-01 3.90219397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:20.83, Z:0.39 [[ 8.60390223e-01 -5.09606669e-01 -5.45049564e-03 7.11874029e+01] [ 5.09597024e-01 8.60407483e-01 -3.13625394e-03 2.08285432e+01] [ 6.28790316e-03 -7.91541359e-05 9.99980228e-01 3.93402891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.941858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.21, Y:20.84, Z:0.39 [[ 8.60738541e-01 -5.09018538e-01 -5.41218553e-03 7.12106113e+01] [ 5.09008470e-01 8.60755557e-01 -3.20152949e-03 2.08448553e+01] [ 6.28820663e-03 8.31555614e-07 9.99980229e-01 3.89569283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.24, Y:20.86, Z:0.39 [[ 8.60672236e-01 -5.09130676e-01 -5.40892469e-03 7.12353553e+01] [ 5.09120575e-01 8.60689232e-01 -3.20708556e-03 2.08616574e+01] [ 6.28822888e-03 6.45465685e-06 9.99980229e-01 3.88912604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.26, Y:20.88, Z:0.39 [[ 8.63068637e-01 -5.05057597e-01 -5.41761586e-03 7.12595301e+01] [ 5.05047509e-01 8.63085641e-01 -3.19227970e-03 2.08763186e+01] [ 6.28815157e-03 1.90030903e-05 9.99980229e-01 3.92003464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.28, Y:20.89, Z:0.39 [[ 8.62744060e-01 -5.05611789e-01 -5.42272386e-03 7.12836399e+01] [ 5.05601767e-01 8.62761102e-01 -3.18357903e-03 2.08917259e+01] [ 6.28817030e-03 4.87513298e-06 9.99980229e-01 3.88799775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:20.91, Z:0.39 [[ 8.63521730e-01 -5.04282452e-01 -5.42499806e-03 7.13073907e+01] [ 5.04272427e-01 8.63538771e-01 -3.17970669e-03 2.09051953e+01] [ 6.28816644e-03 1.00688806e-05 9.99980229e-01 3.93018860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:20.92, Z:0.39 [[ 8.62404210e-01 -5.06191256e-01 -5.42144626e-03 7.13311357e+01] [ 5.06181231e-01 8.62421250e-01 -3.18575107e-03 2.09210089e+01] [ 6.28816980e-03 3.17079239e-06 9.99980229e-01 3.90229088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.36, Y:20.93, Z:0.39 [[ 8.62901355e-01 -5.05343333e-01 -5.41923543e-03 7.13550610e+01] [ 5.05333268e-01 8.62918371e-01 -3.18951118e-03 2.09346515e+01] [ 6.28815603e-03 1.37135711e-05 9.99980229e-01 3.94487627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:20.95, Z:0.39 [[ 8.62661224e-01 -5.05753135e-01 -5.42020744e-03 7.13785585e+01] [ 5.05743089e-01 8.62678252e-01 -3.18785851e-03 2.09487059e+01] [ 6.28816452e-03 8.80947391e-06 9.99980229e-01 3.94675242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:20.96, Z:0.39 [[ 8.61628762e-01 -5.07510100e-01 -5.41981809e-03 7.14017766e+01] [ 5.07500084e-01 8.61645808e-01 -3.18852032e-03 2.09637894e+01] [ 6.28816981e-03 -3.23731979e-06 9.99980229e-01 3.91095569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:20.98, Z:0.39 [[ 8.62555398e-01 -5.05933629e-01 -5.41732590e-03 7.14267519e+01] [ 5.05923555e-01 8.62572410e-01 -3.19275419e-03 2.09771569e+01] [ 6.28815757e-03 1.31745834e-05 9.99980229e-01 3.94899354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.241858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:71.45, Y:20.99, Z:0.40 [[ 8.62573893e-01 -5.05902083e-01 -5.41860936e-03 7.14511082e+01] [ 5.05892022e-01 8.62590912e-01 -3.19057446e-03 2.09930352e+01] [ 6.28816146e-03 1.08749872e-05 9.99980229e-01 3.96529570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:21.01, Z:0.39 [[ 8.61521428e-01 -5.07692287e-01 -5.41954524e-03 7.14728659e+01] [ 5.07682271e-01 8.61538474e-01 -3.18898550e-03 2.10094865e+01] [ 6.28817008e-03 -4.02769678e-06 9.99980229e-01 3.90368009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.50, Y:21.02, Z:0.40 [[ 8.62737755e-01 -5.05622798e-01 -5.39926167e-03 7.15009368e+01] [ 5.05612526e-01 8.62754648e-01 -3.22340202e-03 2.10232741e+01] [ 6.28806365e-03 5.10162887e-05 9.99980229e-01 3.95615557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:21.04, Z:0.39 [[ 8.61824748e-01 -5.07177242e-01 -5.41743165e-03 7.15231422e+01] [ 5.07167194e-01 8.61841775e-01 -3.19256961e-03 2.10380224e+01] [ 6.28816756e-03 3.89189615e-06 9.99980229e-01 3.90315643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:21.05, Z:0.40 [[ 8.62952955e-01 -5.05255253e-01 -5.41541632e-03 7.15482308e+01] [ 5.05245145e-01 8.62969947e-01 -3.19598742e-03 2.10514526e+01] [ 6.28813097e-03 2.18739834e-05 9.99980229e-01 3.95162155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.57, Y:21.07, Z:0.39 [[ 8.62952088e-01 -5.05256725e-01 -5.41628179e-03 7.15724432e+01] [ 5.05246626e-01 8.62969085e-01 -3.19452003e-03 2.10663792e+01] [ 6.28813647e-03 2.01596339e-05 9.99980229e-01 3.94696894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.60, Y:21.08, Z:0.39 [[ 8.63097977e-01 -5.05007481e-01 -5.41537786e-03 7.15969068e+01] [ 5.04997368e-01 8.63114965e-01 -3.19605164e-03 2.10811380e+01] [ 6.28812366e-03 2.37541318e-05 9.99980229e-01 3.94462229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:21.10, Z:0.39 [[ 8.63011742e-01 -5.05154843e-01 -5.41453198e-03 7.16213384e+01] [ 5.05144724e-01 8.63028727e-01 -3.19748404e-03 2.10959060e+01] [ 6.28812119e-03 2.43440093e-05 9.99980229e-01 3.94305087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:21.11, Z:0.39 [[ 8.61802780e-01 -5.07214611e-01 -5.41363119e-03 7.16444153e+01] [ 5.07204523e-01 8.61819783e-01 -3.19900842e-03 2.11114819e+01] [ 6.28815827e-03 1.10961226e-05 9.99980229e-01 3.91158167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:21.12, Z:0.40 [[ 8.62233150e-01 -5.06482689e-01 -5.41117010e-03 7.16702732e+01] [ 5.06472560e-01 8.62250129e-01 -3.20317147e-03 2.11241127e+01] [ 6.28813302e-03 2.12714531e-05 9.99980229e-01 3.95833554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.541858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:71.69, Y:21.14, Z:0.40 [[ 8.61586682e-01 -5.07581612e-01 -5.41262334e-03 7.16945875e+01] [ 5.07571520e-01 8.61603684e-01 -3.20071394e-03 2.11376820e+01] [ 6.28815975e-03 1.03990495e-05 9.99980229e-01 3.96816880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.571858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.72, Y:21.15, Z:0.40 [[ 8.61017166e-01 -5.08547101e-01 -5.41169893e-03 7.17182005e+01] [ 5.08537018e-01 8.61034173e-01 -3.20227615e-03 2.11506987e+01] [ 6.28816597e-03 5.16549577e-06 9.99980229e-01 3.97404657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.601858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.74, Y:21.16, Z:0.40 [[ 8.59743153e-01 -5.10697981e-01 -5.41129855e-03 7.17434113e+01] [ 5.10687937e-01 8.59760183e-01 -3.20295259e-03 2.11636033e+01] [ 6.28816045e-03 -9.76833328e-06 9.99980229e-01 3.98587288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.631858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.77, Y:21.18, Z:0.40 [[ 8.59255119e-01 -5.11518688e-01 -5.41039744e-03 7.17678796e+01] [ 5.11508650e-01 8.59272152e-01 -3.20447402e-03 2.11774848e+01] [ 6.28815219e-03 -1.40043864e-05 9.99980229e-01 3.99206668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.661858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:71.79, Y:21.19, Z:0.40 [[ 8.58312215e-01 -5.13099280e-01 -5.41011877e-03 7.17934924e+01] [ 5.13089271e-01 8.58329265e-01 -3.20494443e-03 2.11921187e+01] [ 6.28811795e-03 -2.50309420e-05 9.99980229e-01 4.00554424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.691858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.82, Y:21.21, Z:0.40 [[ 8.58502172e-01 -5.12781273e-01 -5.42091709e-03 7.18169242e+01] [ 5.12771373e-01 8.58519286e-01 -3.18672306e-03 2.12060184e+01] [ 6.28805377e-03 -4.38824295e-05 9.99980229e-01 4.00808553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.721858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:71.84, Y:21.22, Z:0.40 [[ 8.58710361e-01 -5.12432693e-01 -5.40842837e-03 7.18405092e+01] [ 5.12422653e-01 8.58727392e-01 -3.20777947e-03 2.12200002e+01] [ 6.28813667e-03 -1.68477495e-05 9.99980229e-01 4.01588284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:21.23, Z:0.40 [[ 8.59063721e-01 -5.11840091e-01 -5.40780947e-03 7.18641110e+01] [ 5.11830033e-01 8.59080742e-01 -3.20882250e-03 2.12340161e+01] [ 6.28814898e-03 -1.12963034e-05 9.99980229e-01 4.01594392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:21.25, Z:0.40 [[ 8.59431986e-01 -5.11221499e-01 -5.40742409e-03 7.18879145e+01] [ 5.11211425e-01 8.59448997e-01 -3.20947181e-03 2.12480888e+01] [ 6.28815620e-03 -6.01423561e-06 9.99980229e-01 4.01853222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.811858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.92, Y:21.26, Z:0.40 [[ 8.60277832e-01 -5.09796842e-01 -5.40653074e-03 7.19153136e+01] [ 5.09786730e-01 8.60294821e-01 -3.21097600e-03 2.12620251e+01] [ 6.28815582e-03 6.15384235e-06 9.99980229e-01 4.00507482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84185806400001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.94, Y:21.28, Z:0.40 [[ 8.60132720e-01 -5.10041444e-01 -5.42497423e-03 7.19367199e+01] [ 5.10031532e-01 8.60149827e-01 -3.17991518e-03 2.12766735e+01] [ 6.28817918e-03 -3.17588244e-05 9.99980229e-01 4.02361296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.96, Y:21.29, Z:0.40 [[ 8.59959377e-01 -5.10333862e-01 -5.40544392e-03 7.19610214e+01] [ 5.10323749e-01 8.59976366e-01 -3.21277464e-03 2.12916049e+01] [ 6.28814171e-03 4.32927314e-06 9.99980229e-01 4.02465064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:21.31, Z:0.40 [[ 8.59941730e-01 -5.10363608e-01 -5.40456275e-03 7.19847561e+01] [ 5.10353486e-01 8.59958713e-01 -3.21425626e-03 2.13061233e+01] [ 6.28814025e-03 5.83564880e-06 9.99980229e-01 4.02685286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.931858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.01, Y:21.32, Z:0.40 [[ 8.59846376e-01 -5.10524250e-01 -5.40367484e-03 7.20085145e+01] [ 5.10514122e-01 8.59863356e-01 -3.21574829e-03 2.13191501e+01] [ 6.28813947e-03 6.39719713e-06 9.99980229e-01 4.02055269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.03, Y:21.33, Z:0.40 [[ 8.59507233e-01 -5.11095024e-01 -5.40307132e-03 7.20328860e+01] [ 5.11084901e-01 8.59524215e-01 -3.21676201e-03 2.13328656e+01] [ 6.28814169e-03 3.40204584e-06 9.99980229e-01 4.02825545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.991858064 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:72.06, Y:21.35, Z:0.40 [[ 8.59041798e-01 -5.11876944e-01 -5.40217660e-03 7.20574339e+01] [ 5.11866827e-01 8.59058784e-01 -3.21826388e-03 2.13472163e+01] [ 6.28814234e-03 -5.71799453e-07 9.99980229e-01 4.02584192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.08, Y:21.36, Z:0.40 [[ 8.58661517e-01 -5.12514610e-01 -5.40128340e-03 7.20814791e+01] [ 5.12504496e-01 8.58678505e-01 -3.21976226e-03 2.13615452e+01] [ 6.28814115e-03 -3.49607766e-06 9.99980229e-01 4.02622888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.051858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.10, Y:21.37, Z:0.40 [[ 8.58100098e-01 -5.13454046e-01 -5.40039097e-03 7.21049616e+01] [ 5.13443941e-01 8.58117091e-01 -3.22125841e-03 2.13748427e+01] [ 6.28813595e-03 -8.63586844e-06 9.99980229e-01 4.02612063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.081858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:72.13, Y:21.39, Z:0.40 [[ 8.57543483e-01 -5.14383140e-01 -5.40000424e-03 7.21289776e+01] [ 5.14373050e-01 8.57560485e-01 -3.22190657e-03 2.13888937e+01] [ 6.28812468e-03 -1.46916719e-05 9.99980229e-01 4.03693814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.111858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:72.15, Y:21.40, Z:0.40 [[ 8.57610420e-01 -5.14271540e-01 -5.39907963e-03 7.21529985e+01] [ 5.14261438e-01 8.57627415e-01 -3.22345524e-03 2.14029544e+01] [ 6.28813000e-03 -1.20696459e-05 9.99980229e-01 4.03569058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:72.18, Y:21.42, Z:0.40 [[ 8.57476622e-01 -5.14494603e-01 -5.39879244e-03 7.21776949e+01] [ 5.14484502e-01 8.57493617e-01 -3.22393617e-03 2.14172184e+01] [ 6.28812782e-03 -1.31451416e-05 9.99980229e-01 4.04263435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.20, Y:21.43, Z:0.41 [[ 8.57111117e-01 -5.15103286e-01 -5.39791167e-03 7.22021561e+01] [ 5.15093188e-01 8.57128114e-01 -3.22541018e-03 2.14303537e+01] [ 6.28812124e-03 -1.58926047e-05 9.99980229e-01 4.05602626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.23, Y:21.44, Z:0.41 [[ 8.57070822e-01 -5.15170339e-01 -5.39703663e-03 7.22257646e+01] [ 5.15160233e-01 8.57087815e-01 -3.22687372e-03 2.14440106e+01] [ 6.28812396e-03 -1.46793375e-05 9.99980229e-01 4.05608819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.25, Y:21.46, Z:0.41 [[ 8.56728176e-01 -5.15739962e-01 -5.39665734e-03 7.22501691e+01] [ 5.15729864e-01 8.56745173e-01 -3.22750793e-03 2.14575735e+01] [ 6.28811494e-03 -1.81203748e-05 9.99980229e-01 4.05226121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.261858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:72.27, Y:21.47, Z:0.40 [[ 8.56498598e-01 -5.16121145e-01 -5.39577444e-03 7.22735899e+01] [ 5.16111045e-01 8.56515594e-01 -3.22898328e-03 2.14710842e+01] [ 6.28811150e-03 -1.91991363e-05 9.99980229e-01 4.04571323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.291858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:72.30, Y:21.48, Z:0.40 [[ 8.56368253e-01 -5.16337394e-01 -5.39539211e-03 7.22976529e+01] [ 5.16327294e-01 8.56385249e-01 -3.22962200e-03 2.14846824e+01] [ 6.28810883e-03 -2.00424551e-05 9.99980229e-01 4.04438956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:21.50, Z:0.40 [[ 8.56112667e-01 -5.16761068e-01 -5.39451094e-03 7.23223373e+01] [ 5.16750967e-01 8.56129662e-01 -3.23109317e-03 2.14990298e+01] [ 6.28810399e-03 -2.14389568e-05 9.99980229e-01 4.03932298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.35, Y:21.51, Z:0.40 [[ 8.55833043e-01 -5.17224043e-01 -5.39363529e-03 7.23458661e+01] [ 5.17213942e-01 8.55850039e-01 -3.23255423e-03 2.15123644e+01] [ 6.28809774e-03 -2.31366416e-05 9.99980229e-01 4.03166037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.381858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:72.37, Y:21.53, Z:0.40 [[ 8.55669608e-01 -5.17494382e-01 -5.39325517e-03 7.23706998e+01] [ 5.17484282e-01 8.55686604e-01 -3.23318829e-03 2.15264816e+01] [ 6.28809298e-03 -2.43838256e-05 9.99980229e-01 4.03136917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.411858064 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:72.39, Y:21.54, Z:0.40 [[ 8.55628724e-01 -5.17561986e-01 -5.39238863e-03 7.23945253e+01] [ 5.17551878e-01 8.55645715e-01 -3.23463289e-03 2.15397319e+01] [ 6.28809725e-03 -2.31960545e-05 9.99980229e-01 4.03128796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.42, Y:21.55, Z:0.40 [[ 8.55449899e-01 -5.17857507e-01 -5.39201277e-03 7.24185136e+01] [ 5.17847401e-01 8.55466891e-01 -3.23525932e-03 2.15537091e+01] [ 6.28809172e-03 -2.46375405e-05 9.99980229e-01 4.03476375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.471858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.44, Y:21.57, Z:0.40 [[ 8.55660814e-01 -5.17508944e-01 -5.39115465e-03 7.24430383e+01] [ 5.17498823e-01 8.55677797e-01 -3.23668862e-03 2.15677867e+01] [ 6.28810665e-03 -2.04085656e-05 9.99980229e-01 4.03401667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.47, Y:21.58, Z:0.40 [[ 8.56179527e-01 -5.16650328e-01 -5.39029765e-03 7.24676030e+01] [ 5.16640181e-01 8.56196495e-01 -3.23811523e-03 2.15814167e+01] [ 6.28812725e-03 -1.24363829e-05 9.99980229e-01 4.04360086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.49, Y:21.59, Z:0.40 [[ 8.56642157e-01 -5.15882903e-01 -5.38939873e-03 7.24906178e+01] [ 5.15872731e-01 8.56659110e-01 -3.23961068e-03 2.15948653e+01] [ 6.28813727e-03 -5.05675905e-06 9.99980229e-01 4.04506106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.51, Y:21.61, Z:0.40 [[ 8.57511879e-01 -5.14435942e-01 -5.38878783e-03 7.25140145e+01] [ 5.14425735e-01 8.57528811e-01 -3.24062653e-03 2.16086632e+01] [ 6.28813558e-03 6.74460358e-06 9.99980229e-01 4.03977457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.54, Y:21.62, Z:0.40 [[ 8.57746455e-01 -5.14044729e-01 -5.38840147e-03 7.25379446e+01] [ 5.14034510e-01 8.57763380e-01 -3.24126883e-03 2.16226431e+01] [ 6.28813061e-03 1.03625420e-05 9.99980229e-01 4.04016474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.621858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.56, Y:21.64, Z:0.40 [[ 8.57975895e-01 -5.13661697e-01 -5.38750015e-03 7.25625418e+01] [ 5.13651461e-01 8.57992810e-01 -3.24276626e-03 2.16366942e+01] [ 6.28812121e-03 1.49179601e-05 9.99980229e-01 4.04018487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.651858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.59, Y:21.65, Z:0.40 [[ 8.58171514e-01 -5.13334819e-01 -5.38658506e-03 7.25859934e+01] [ 5.13324567e-01 8.58188419e-01 -3.24428562e-03 2.16496581e+01] [ 6.28810969e-03 1.90870548e-05 9.99980229e-01 4.04110973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.681858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.61, Y:21.66, Z:0.40 [[ 8.58027938e-01 -5.13574772e-01 -5.38618862e-03 7.26104397e+01] [ 5.13564521e-01 8.58044843e-01 -3.24494366e-03 2.16644695e+01] [ 6.28811257e-03 1.80969353e-05 9.99980229e-01 4.04290433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.711858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.64, Y:21.68, Z:0.41 [[ 8.58337594e-01 -5.13057087e-01 -5.38528080e-03 7.26353234e+01] [ 5.13046816e-01 8.58354487e-01 -3.24644956e-03 2.16779791e+01] [ 6.28809390e-03 2.36485352e-05 9.99980229e-01 4.05483621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.741858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:72.66, Y:21.69, Z:0.41 [[ 8.58441130e-01 -5.12883841e-01 -5.38436545e-03 7.26596521e+01] [ 5.12873558e-01 8.58458016e-01 -3.24796700e-03 2.16923586e+01] [ 6.28808147e-03 2.66897945e-05 9.99980229e-01 4.05717366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.68, Y:21.71, Z:0.41 [[ 8.58397496e-01 -5.12956876e-01 -5.38345136e-03 7.26835754e+01] [ 5.12946585e-01 8.58414377e-01 -3.24948139e-03 2.17065459e+01] [ 6.28807587e-03 2.79237021e-05 9.99980229e-01 4.05918819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.801858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.71, Y:21.72, Z:0.41 [[ 8.58499023e-01 -5.12786949e-01 -5.38253761e-03 7.27078401e+01] [ 5.12776645e-01 8.58515896e-01 -3.25099424e-03 2.17202366e+01] [ 6.28806152e-03 3.09358014e-05 9.99980229e-01 4.05980905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.73, Y:21.73, Z:0.41 [[ 8.58800529e-01 -5.12281846e-01 -5.38162998e-03 7.27317346e+01] [ 5.12271522e-01 8.58817390e-01 -3.25249602e-03 2.17326207e+01] [ 6.28803208e-03 3.63895137e-05 9.99980229e-01 4.05208590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.76, Y:21.75, Z:0.40 [[ 8.58912198e-01 -5.12094600e-01 -5.38123658e-03 7.27558996e+01] [ 5.12084268e-01 8.58929054e-01 -3.25314678e-03 2.17465404e+01] [ 6.28801934e-03 3.85208541e-05 9.99980229e-01 4.04777428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.78, Y:21.76, Z:0.40 [[ 8.58743157e-01 -5.12378027e-01 -5.38034899e-03 7.27808954e+01] [ 5.12367691e-01 8.58760011e-01 -3.25461408e-03 2.17605311e+01] [ 6.28802130e-03 3.81605765e-05 9.99980229e-01 4.04411620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.81, Y:21.77, Z:0.40 [[ 8.59122569e-01 -5.11741520e-01 -5.38787390e-03 7.28056159e+01] [ 5.11731250e-01 8.59139463e-01 -3.24217733e-03 2.17740738e+01] [ 6.28809184e-03 2.82842711e-05 9.99980229e-01 4.04253302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.83, Y:21.79, Z:0.40 [[ 8.59145079e-01 -5.11703819e-01 -5.37918481e-03 7.28299435e+01] [ 5.11693458e-01 8.59161917e-01 -3.25653010e-03 2.17871484e+01] [ 6.28796962e-03 4.53381305e-05 9.99980229e-01 4.03924911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.86, Y:21.80, Z:0.40 [[ 8.58943275e-01 -5.12042496e-01 -5.37890138e-03 7.28558203e+01] [ 5.12032140e-01 8.58960116e-01 -3.25699818e-03 2.17993835e+01] [ 6.28798323e-03 4.34062992e-05 9.99980229e-01 4.04415860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.011858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:72.88, Y:21.81, Z:0.41 [[ 8.58700158e-01 -5.12450078e-01 -5.38106926e-03 7.28802427e+01] [ 5.12439751e-01 8.58717018e-01 -3.25341912e-03 2.18130740e+01] [ 6.28803063e-03 3.62377207e-05 9.99980229e-01 4.05624623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.041858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:72.90, Y:21.83, Z:0.41 [[ 8.58439730e-01 -5.12886255e-01 -5.37769057e-03 7.29046350e+01] [ 5.12875902e-01 8.58456573e-01 -3.25899432e-03 2.18265129e+01] [ 6.28800721e-03 3.95623062e-05 9.99980230e-01 4.05916921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.071858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:72.93, Y:21.84, Z:0.41 [[ 8.58113716e-01 -5.13431535e-01 -5.37677214e-03 7.29294781e+01] [ 5.13421184e-01 8.58130560e-01 -3.26050887e-03 2.18391551e+01] [ 6.28802056e-03 3.73386687e-05 9.99980230e-01 4.05883624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.101858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:72.95, Y:21.85, Z:0.40 [[ 8.57731157e-01 -5.14070387e-01 -5.37585136e-03 7.29537801e+01] [ 5.14060039e-01 8.57748002e-01 -3.26202632e-03 2.18524710e+01] [ 6.28803690e-03 3.44312538e-05 9.99980230e-01 4.04887715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.131858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:72.98, Y:21.87, Z:0.41 [[ 8.57288608e-01 -5.14808068e-01 -5.37556617e-03 7.29785956e+01] [ 5.14797731e-01 8.57305461e-01 -3.26249623e-03 2.18654749e+01] [ 6.28806161e-03 2.95715838e-05 9.99980230e-01 4.06038242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.161858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.00, Y:21.88, Z:0.40 [[ 8.56748384e-01 -5.15706621e-01 -5.37465322e-03 7.30020663e+01] [ 5.15696293e-01 8.56765242e-01 -3.26399953e-03 2.18781712e+01] [ 6.28808224e-03 2.47375827e-05 9.99980230e-01 4.04661849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.191858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:73.03, Y:21.89, Z:0.41 [[ 8.55664442e-01 -5.17503122e-01 -5.37425758e-03 7.30275052e+01] [ 5.17492824e-01 8.55681319e-01 -3.26465084e-03 2.18904676e+01] [ 6.28811881e-03 1.23059038e-05 9.99980230e-01 4.05964907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.05, Y:21.90, Z:0.41 [[ 8.54917976e-01 -5.18735367e-01 -5.37334614e-03 7.30523018e+01] [ 5.18725084e-01 8.54934863e-01 -3.26615030e-03 2.19046370e+01] [ 6.28812862e-03 5.00117973e-06 9.99980230e-01 4.06369907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.08, Y:21.92, Z:0.41 [[ 8.54282207e-01 -5.19781730e-01 -5.37244145e-03 7.30766409e+01] [ 5.19771459e-01 8.54299100e-01 -3.26763773e-03 2.19178107e+01] [ 6.28813029e-03 -9.56958597e-07 9.99980230e-01 4.07371731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281858064 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:73.10, Y:21.93, Z:0.41 [[ 8.53897537e-01 -5.20413435e-01 -5.37152706e-03 7.31020524e+01] [ 5.20403167e-01 8.53914432e-01 -3.26914016e-03 2.19311985e+01] [ 6.28812894e-03 -3.84896685e-06 9.99980230e-01 4.06630572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.12, Y:21.94, Z:0.41 [[ 8.52578253e-01 -5.22571949e-01 -5.37405928e-03 7.31249921e+01] [ 5.22561750e-01 8.52595189e-01 -3.26498163e-03 2.19430944e+01] [ 6.28808490e-03 -2.46254876e-05 9.99980229e-01 4.08936784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.15, Y:21.96, Z:0.41 [[ 8.52786492e-01 -5.22232321e-01 -5.34806328e-03 7.31526326e+01] [ 5.22221847e-01 8.52803261e-01 -3.30771164e-03 2.19573709e+01] [ 6.28823973e-03 2.78963239e-05 9.99980228e-01 4.08620293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.371858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:73.18, Y:21.97, Z:0.41 [[ 8.52533489e-01 -5.22644993e-01 -5.37232455e-03 7.31768409e+01] [ 5.22634777e-01 8.52550415e-01 -3.26782600e-03 2.19708434e+01] [ 6.28809042e-03 -2.18325461e-05 9.99980230e-01 4.08488567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.20, Y:21.98, Z:0.41 [[ 8.52139094e-01 -5.23287791e-01 -5.37141924e-03 7.32014167e+01] [ 5.23277579e-01 8.52156023e-01 -3.26931340e-03 2.19848919e+01] [ 6.28807904e-03 -2.48334998e-05 9.99980230e-01 4.08374169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:22.00, Z:0.41 [[ 8.51649552e-01 -5.24084152e-01 -5.37052044e-03 7.32258197e+01] [ 5.24073946e-01 8.51666484e-01 -3.27078920e-03 2.19970796e+01] [ 6.28806104e-03 -2.89836872e-05 9.99980230e-01 4.08614419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:22.01, Z:0.41 [[ 8.51753293e-01 -5.23915537e-01 -5.37013099e-03 7.32511082e+01] [ 5.23905324e-01 8.51770221e-01 -3.27142849e-03 2.20106255e+01] [ 6.28806987e-03 -2.69902289e-05 9.99980230e-01 4.11209734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:22.03, Z:0.41 [[ 8.51401942e-01 -5.24486361e-01 -5.36572402e-03 7.32762429e+01] [ 5.24476114e-01 8.51418849e-01 -3.27866025e-03 2.20255633e+01] [ 6.28809116e-03 -2.27363765e-05 9.99980230e-01 4.10514660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.521858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:73.30, Y:22.04, Z:0.41 [[ 8.51698281e-01 -5.24004973e-01 -5.36914059e-03 7.33001549e+01] [ 5.23994751e-01 8.51715204e-01 -3.27305569e-03 2.20387219e+01] [ 6.28807613e-03 -2.57455885e-05 9.99980230e-01 4.11318108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.551858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:73.32, Y:22.05, Z:0.41 [[ 8.51990609e-01 -5.23529538e-01 -5.36878354e-03 7.33245423e+01] [ 5.23519304e-01 8.52007525e-01 -3.27364125e-03 2.20533689e+01] [ 6.28809187e-03 -2.15502139e-05 9.99980230e-01 4.12945914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.581858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:73.35, Y:22.07, Z:0.41 [[ 8.52356035e-01 -5.22934389e-01 -5.36787014e-03 7.33489519e+01] [ 5.22924133e-01 8.52372938e-01 -3.27513829e-03 2.20679201e+01] [ 6.28810968e-03 -1.54049472e-05 9.99980230e-01 4.13492012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.38, Y:22.08, Z:0.41 [[ 8.55623094e-01 -5.17571557e-01 -5.36693942e-03 7.33808486e+01] [ 5.17561186e-01 8.55639926e-01 -3.27666275e-03 2.20809958e+01] [ 6.28807509e-03 2.58687931e-05 9.99980230e-01 4.11876333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.40, Y:22.10, Z:0.41 [[ 8.54020126e-01 -5.20211835e-01 -5.41022985e-03 7.33980945e+01] [ 5.20201963e-01 8.54037260e-01 -3.20572043e-03 2.20970430e+01] [ 6.28819158e-03 -7.66624262e-05 9.99980226e-01 4.13664699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:22.11, Z:0.41 [[ 8.56122908e-01 -5.16744401e-01 -5.36570831e-03 7.34293045e+01] [ 5.16734001e-01 8.56139722e-01 -3.27858412e-03 2.21106470e+01] [ 6.28798601e-03 3.42270467e-05 9.99980230e-01 4.13116599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:22.13, Z:0.41 [[ 8.54885343e-01 -5.18788836e-01 -5.40318027e-03 7.34478051e+01] [ 5.18778863e-01 8.54902416e-01 -3.21723740e-03 2.21264937e+01] [ 6.28825871e-03 -5.26866155e-05 9.99980227e-01 4.14555863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:22.14, Z:0.41 [[ 8.56549084e-01 -5.16037682e-01 -5.36444005e-03 7.34781199e+01] [ 5.16027255e-01 8.56565882e-01 -3.28058576e-03 2.21406138e+01] [ 6.28790219e-03 4.17854507e-05 9.99980230e-01 4.14117295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:22.16, Z:0.41 [[ 8.55983313e-01 -5.16975299e-01 -5.39507587e-03 7.34980537e+01] [ 5.16965207e-01 8.56000315e-01 -3.23047552e-03 2.21564112e+01] [ 6.28826270e-03 -2.38333703e-05 9.99980228e-01 4.14680358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.52, Y:22.17, Z:0.41 [[ 8.56144076e-01 -5.16709354e-01 -5.36335171e-03 7.35215524e+01] [ 5.16698930e-01 8.56160874e-01 -3.28231333e-03 2.21703348e+01] [ 6.28789389e-03 3.88950185e-05 9.99980230e-01 4.14778110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:22.18, Z:0.41 [[ 8.56155747e-01 -5.16690020e-01 -5.36295153e-03 7.35452067e+01] [ 5.16679591e-01 8.56172542e-01 -3.28296705e-03 2.21843682e+01] [ 6.28788816e-03 3.98035029e-05 9.99980230e-01 4.14416771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.851858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:73.57, Y:22.20, Z:0.41 [[ 8.55257103e-01 -5.18176157e-01 -5.36256199e-03 7.35712776e+01] [ 5.18165754e-01 8.55273915e-01 -3.28360322e-03 2.21998011e+01] [ 6.28794429e-03 2.96289992e-05 9.99980230e-01 4.14514403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.59, Y:22.21, Z:0.41 [[ 8.55481397e-01 -5.17805680e-01 -5.37193681e-03 7.35941736e+01] [ 5.17795366e-01 8.55498263e-01 -3.26829572e-03 2.22128212e+01] [ 6.28802470e-03 1.44022066e-05 9.99980230e-01 4.14841563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.911858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:73.62, Y:22.23, Z:0.42 [[ 8.55035973e-01 -5.18540974e-01 -5.36137762e-03 7.36186442e+01] [ 5.18530566e-01 8.55052781e-01 -3.28552638e-03 2.22268234e+01] [ 6.28794090e-03 2.92050750e-05 9.99980230e-01 4.15091071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.64, Y:22.24, Z:0.42 [[ 8.54308759e-01 -5.19738213e-01 -5.36046258e-03 7.36434528e+01] [ 5.19727819e-01 8.54325576e-01 -3.28701864e-03 2.22402676e+01] [ 6.28796947e-03 2.21472945e-05 9.99980230e-01 4.15751772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:22.25, Z:0.42 [[ 8.53978674e-01 -5.20280405e-01 -5.35954644e-03 7.36673458e+01] [ 5.20270012e-01 8.53995492e-01 -3.28851174e-03 2.22538530e+01] [ 6.28797672e-03 1.99075967e-05 9.99980230e-01 4.15267030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.69, Y:22.27, Z:0.42 [[ 8.53225441e-01 -5.21514745e-01 -5.35892559e-03 7.36928844e+01] [ 5.21504370e-01 8.53242270e-01 -3.28952316e-03 2.22686449e+01] [ 6.28799666e-03 1.20017347e-05 9.99980230e-01 4.15307918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:22.28, Z:0.42 [[ 8.52895101e-01 -5.22054751e-01 -5.36506914e-03 7.37171516e+01] [ 5.22044450e-01 8.52911975e-01 -3.27951781e-03 2.22824574e+01] [ 6.28801957e-03 -3.71989227e-06 9.99980230e-01 4.15900359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.74, Y:22.30, Z:0.42 [[ 8.52475591e-01 -5.22739575e-01 -5.35753780e-03 7.37416496e+01] [ 5.22729210e-01 8.52492426e-01 -3.29177546e-03 2.22965676e+01] [ 6.28800171e-03 5.61672184e-06 9.99980230e-01 4.16310737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:22.31, Z:0.42 [[ 8.50880045e-01 -5.25332710e-01 -5.35660695e-03 7.37669501e+01] [ 5.25322387e-01 8.50896905e-01 -3.29328952e-03 2.23102619e+01] [ 6.28799298e-03 -1.17512176e-05 9.99980230e-01 4.16571258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.79, Y:22.33, Z:0.42 [[ 8.49545608e-01 -5.27487946e-01 -5.35968713e-03 7.37923138e+01] [ 5.27477698e-01 8.49562514e-01 -3.28828089e-03 2.23252077e+01] [ 6.28791780e-03 -3.35708419e-05 9.99980230e-01 4.16139868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.82, Y:22.34, Z:0.42 [[ 8.48334232e-01 -5.29433872e-01 -5.36709557e-03 7.38160443e+01] [ 5.29423739e-01 8.48351207e-01 -3.27623854e-03 2.23370655e+01] [ 6.28773366e-03 -6.21224976e-05 9.99980230e-01 4.17099140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.84, Y:22.35, Z:0.42 [[ 8.47226556e-01 -5.31204843e-01 -5.34584807e-03 7.38407150e+01] [ 5.31194526e-01 8.47243421e-01 -3.31075473e-03 2.23512970e+01] [ 6.28792355e-03 -3.47259028e-05 9.99980230e-01 4.19280529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:22.37, Z:0.42 [[ 8.45138903e-01 -5.34519993e-01 -5.34899585e-03 7.38653945e+01] [ 5.34509775e-01 8.45155828e-01 -3.30564197e-03 2.23650281e+01] [ 6.28766674e-03 -6.53639352e-05 9.99980230e-01 4.18637084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:22.38, Z:0.42 [[ 8.44990073e-01 -5.34755185e-01 -5.35433926e-03 7.38897118e+01] [ 5.34745027e-01 8.45007033e-01 -3.29696416e-03 2.23800779e+01] [ 6.28752301e-03 -7.73043067e-05 9.99980230e-01 4.18821171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.91, Y:22.39, Z:0.42 [[ 8.43532258e-01 -5.37051832e-01 -5.35342103e-03 7.39146339e+01] [ 5.37041711e-01 8.43549240e-01 -3.29845446e-03 2.23946280e+01] [ 6.28731525e-03 -9.26576541e-05 9.99980230e-01 4.20082934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:22.41, Z:0.42 [[ 8.42961662e-01 -5.37946986e-01 -5.35505603e-03 7.39376440e+01] [ 5.37936900e-01 8.42978665e-01 -3.29580145e-03 2.24088149e+01] [ 6.28716444e-03 -1.02447969e-04 9.99980230e-01 4.19454621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:22.42, Z:0.42 [[ 8.42438919e-01 -5.38765275e-01 -5.35226590e-03 7.39619222e+01] [ 5.38755176e-01 8.42455915e-01 -3.30032631e-03 2.24237223e+01] [ 6.28714927e-03 -1.03237626e-04 9.99980230e-01 4.20746518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:22.44, Z:0.42 [[ 8.42136348e-01 -5.39238077e-01 -5.35425248e-03 7.39843298e+01] [ 5.39228009e-01 8.42153361e-01 -3.29710542e-03 2.24380311e+01] [ 6.28702651e-03 -1.10550585e-04 9.99980230e-01 4.19496600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:22.45, Z:0.42 [[ 8.42145095e-01 -5.39224447e-01 -5.35108887e-03 7.40082116e+01] [ 5.39214345e-01 8.42162090e-01 -3.30223190e-03 2.24530904e+01] [ 6.28712835e-03 -1.04425484e-04 9.99980230e-01 4.19429197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:22.47, Z:0.42 [[ 8.42250926e-01 -5.39059137e-01 -5.35017765e-03 7.40315011e+01] [ 5.39049022e-01 8.42267913e-01 -3.30370756e-03 2.24674562e+01] [ 6.28717671e-03 -1.01457278e-04 9.99980230e-01 4.19206307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:22.48, Z:0.42 [[ 8.42334236e-01 -5.38928952e-01 -5.34978191e-03 7.40554740e+01] [ 5.38918831e-01 8.42351218e-01 -3.30434827e-03 2.24827523e+01] [ 6.28720426e-03 -9.97325350e-05 9.99980230e-01 4.19627791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.08, Y:22.50, Z:0.42 [[ 8.43577443e-01 -5.36980901e-01 -5.34887983e-03 7.40777691e+01] [ 5.36970731e-01 8.43594396e-01 -3.30580785e-03 2.24983136e+01] [ 6.28744073e-03 -8.34869830e-05 9.99980230e-01 4.18620463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.10, Y:22.51, Z:0.42 [[ 8.43513976e-01 -5.37080700e-01 -5.33789441e-03 7.41020471e+01] [ 5.37070420e-01 8.43530863e-01 -3.32357149e-03 2.25147738e+01] [ 6.28770479e-03 -6.33461875e-05 9.99980230e-01 4.19130615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.13, Y:22.53, Z:0.42 [[ 8.43822046e-01 -5.36596454e-01 -5.34784025e-03 7.41253690e+01] [ 5.36586267e-01 8.43838989e-01 -3.30749020e-03 2.25303537e+01] [ 6.28750362e-03 -7.86444873e-05 9.99980230e-01 4.19508125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:22.55, Z:0.42 [[ 8.44180065e-01 -5.36033048e-01 -5.34696450e-03 7.41489176e+01] [ 5.36022840e-01 8.44196995e-01 -3.30890534e-03 2.25454853e+01] [ 6.28757398e-03 -7.27831762e-05 9.99980230e-01 4.19942649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.17, Y:22.56, Z:0.42 [[ 8.44038561e-01 -5.36255841e-01 -5.34609129e-03 7.41731772e+01] [ 5.36245629e-01 8.44055488e-01 -3.31031555e-03 2.25606139e+01] [ 6.28757375e-03 -7.27841144e-05 9.99980230e-01 4.20121740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.20, Y:22.58, Z:0.42 [[ 8.44300713e-01 -5.35843013e-01 -5.34521722e-03 7.41964235e+01] [ 5.35832783e-01 8.44317631e-01 -3.31172633e-03 2.25760495e+01] [ 6.28762655e-03 -6.80497096e-05 9.99980230e-01 4.20668512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.661858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:74.22, Y:22.59, Z:0.42 [[ 8.44600174e-01 -5.35370884e-01 -5.34434606e-03 7.42198322e+01] [ 5.35360636e-01 8.44617080e-01 -3.31313158e-03 2.25924550e+01] [ 6.28768015e-03 -6.28810011e-05 9.99980230e-01 4.22054820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.24, Y:22.61, Z:0.42 [[ 8.44762025e-01 -5.35115471e-01 -5.34355800e-03 7.42436977e+01] [ 5.35105210e-01 8.44778923e-01 -3.31440211e-03 2.26080916e+01] [ 6.28771302e-03 -5.94846821e-05 9.99980230e-01 4.23110224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:22.62, Z:0.42 [[ 8.44957906e-01 -5.34806127e-01 -5.34262896e-03 7.42673408e+01] [ 5.34795850e-01 8.44974795e-01 -3.31589899e-03 2.26237266e+01] [ 6.28774991e-03 -5.54207271e-05 9.99980230e-01 4.23322241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.751858064 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:74.29, Y:22.64, Z:0.42 [[ 8.45085318e-01 -5.34604774e-01 -5.34234099e-03 7.42903711e+01] [ 5.34594490e-01 8.45102203e-01 -3.31636289e-03 2.26394607e+01] [ 6.28776757e-03 -5.33764651e-05 9.99980230e-01 4.23776244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.31, Y:22.66, Z:0.42 [[ 8.45693166e-01 -5.33642706e-01 -5.34141343e-03 7.43124384e+01] [ 5.33632394e-01 8.45710033e-01 -3.31785617e-03 2.26564259e+01] [ 6.28783667e-03 -4.44629499e-05 9.99980230e-01 4.23453455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.811858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:74.34, Y:22.67, Z:0.42 [[ 8.46012298e-01 -5.33136628e-01 -5.34112770e-03 7.43358221e+01] [ 5.33126302e-01 8.46029157e-01 -3.31831607e-03 2.26720963e+01] [ 6.28786561e-03 -4.01594616e-05 9.99980230e-01 4.23405526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84185806400001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.36, Y:22.69, Z:0.42 [[ 8.46155277e-01 -5.32909683e-01 -5.34020986e-03 7.43584893e+01] [ 5.32899344e-01 8.46172127e-01 -3.31979251e-03 2.26874076e+01] [ 6.28788631e-03 -3.67343739e-05 9.99980230e-01 4.23381071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.871858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.38, Y:22.70, Z:0.43 [[ 8.46718910e-01 -5.32013697e-01 -5.33981215e-03 7.43819760e+01] [ 5.32003335e-01 8.46735747e-01 -3.32043210e-03 2.27033160e+01] [ 6.28792518e-03 -2.93252272e-05 9.99980230e-01 4.25005216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:22.72, Z:0.43 [[ 8.46933759e-01 -5.31671613e-01 -5.33891419e-03 7.44051270e+01] [ 5.31661236e-01 8.46950586e-01 -3.32187529e-03 2.27186838e+01] [ 6.28794330e-03 -2.50853921e-05 9.99980230e-01 4.25712269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.43, Y:22.73, Z:0.43 [[ 8.47382368e-01 -5.30956334e-01 -5.33799026e-03 7.44277537e+01] [ 5.30945934e-01 8.47399180e-01 -3.32335932e-03 2.27339043e+01] [ 6.28796725e-03 -1.80281345e-05 9.99980230e-01 4.25598369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.961858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:74.45, Y:22.75, Z:0.43 [[ 8.47632076e-01 -5.30557606e-01 -5.33759003e-03 7.44508347e+01] [ 5.30547194e-01 8.47648881e-01 -3.32400199e-03 2.27497119e+01] [ 6.28797676e-03 -1.43127000e-05 9.99980230e-01 4.25472257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.47, Y:22.77, Z:0.42 [[ 8.48523828e-01 -5.29130262e-01 -5.33667335e-03 7.44728196e+01] [ 5.29119812e-01 8.48540610e-01 -3.32547306e-03 2.27664039e+01] [ 6.28799249e-03 -1.99646750e-06 9.99980230e-01 4.24484006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.50, Y:22.78, Z:0.42 [[ 8.48821753e-01 -5.28652209e-01 -5.33604998e-03 7.44955515e+01] [ 5.28641743e-01 8.48838525e-01 -3.32647302e-03 2.27821988e+01] [ 6.28799211e-03 2.72389998e-06 9.99980230e-01 4.24858385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.52, Y:22.80, Z:0.43 [[ 8.49036426e-01 -5.28307375e-01 -5.33513186e-03 7.45185120e+01] [ 5.28296894e-01 8.49053189e-01 -3.32794489e-03 2.27976645e+01] [ 6.28798855e-03 7.01285196e-06 9.99980230e-01 4.25026486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:22.81, Z:0.43 [[ 8.49242648e-01 -5.27975825e-01 -5.33421311e-03 7.45416831e+01] [ 5.27965327e-01 8.49259400e-01 -3.32941686e-03 2.28131277e+01] [ 6.28798224e-03 1.12032231e-05 9.99980230e-01 4.27144889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.56, Y:22.83, Z:0.43 [[ 8.49216915e-01 -5.28017223e-01 -5.33326569e-03 7.45646847e+01] [ 5.28006717e-01 8.49233661e-01 -3.33093381e-03 2.28277751e+01] [ 6.28797917e-03 1.26852316e-05 9.99980230e-01 4.27138758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.59, Y:22.84, Z:0.43 [[ 8.49048015e-01 -5.28288776e-01 -5.33262225e-03 7.45879782e+01] [ 5.28278268e-01 8.49064761e-01 -3.33196359e-03 2.28427452e+01] [ 6.28798061e-03 1.18886268e-05 9.99980230e-01 4.28259276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.171858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:74.61, Y:22.86, Z:0.43 [[ 8.48868009e-01 -5.28577976e-01 -5.33167597e-03 7.46108492e+01] [ 5.28567465e-01 8.48884753e-01 -3.33347711e-03 2.28576517e+01] [ 6.28798102e-03 1.15316267e-05 9.99980230e-01 4.28716090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.63, Y:22.87, Z:0.43 [[ 8.48787635e-01 -5.28707034e-01 -5.33128073e-03 7.46343209e+01] [ 5.28696521e-01 8.48804378e-01 -3.33410910e-03 2.28728741e+01] [ 6.28798136e-03 1.13210031e-05 9.99980230e-01 4.29427376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.231858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:74.66, Y:22.89, Z:0.43 [[ 8.48551206e-01 -5.29086419e-01 -5.33033408e-03 7.46578723e+01] [ 5.29075904e-01 8.48567947e-01 -3.33562186e-03 2.28883496e+01] [ 6.28798287e-03 1.02946275e-05 9.99980230e-01 4.29659544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.68, Y:22.90, Z:0.43 [[ 8.48617810e-01 -5.28979594e-01 -5.32938312e-03 7.46808602e+01] [ 5.28969067e-01 8.48634544e-01 -3.33714052e-03 2.29030127e+01] [ 6.28797785e-03 1.28780618e-05 9.99980230e-01 4.29291895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.291858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.71, Y:22.92, Z:0.43 [[ 8.48960641e-01 -5.28429213e-01 -5.32897133e-03 7.47050418e+01] [ 5.28418671e-01 8.48977365e-01 -3.33779798e-03 2.29179205e+01] [ 6.28796599e-03 1.77311625e-05 9.99980230e-01 4.28961274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.321858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:74.73, Y:22.93, Z:0.43 [[ 8.49255310e-01 -5.27955520e-01 -5.32802793e-03 7.47298894e+01] [ 5.27944959e-01 8.49272023e-01 -3.33930322e-03 2.29335360e+01] [ 6.28794862e-03 2.30154996e-05 9.99980230e-01 4.29495488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.351858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:74.75, Y:22.95, Z:0.43 [[ 8.49607211e-01 -5.27389038e-01 -5.32811480e-03 7.47543405e+01] [ 5.27378468e-01 8.49623918e-01 -3.33916463e-03 2.29490469e+01] [ 6.28793260e-03 2.70453317e-05 9.99980230e-01 4.28806385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.381858064 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:74.78, Y:22.96, Z:0.43 [[ 8.49608211e-01 -5.27387441e-01 -5.32684702e-03 7.47782589e+01] [ 5.27376858e-01 8.49624909e-01 -3.34118587e-03 2.29643861e+01] [ 6.28792138e-03 2.94431080e-05 9.99980230e-01 4.28909782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.411858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:74.80, Y:22.98, Z:0.43 [[ 8.49910955e-01 -5.26899361e-01 -5.33226397e-03 7.48021576e+01] [ 5.26888822e-01 8.49927681e-01 -3.33255417e-03 2.29793843e+01] [ 6.28795941e-03 2.28640163e-05 9.99980230e-01 4.29070374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.83, Y:22.99, Z:0.43 [[ 8.49720081e-01 -5.27207199e-01 -5.32487569e-03 7.48260874e+01] [ 5.27196593e-01 8.49736764e-01 -3.34431790e-03 2.29941925e+01] [ 6.28789111e-03 3.44777589e-05 9.99980230e-01 4.29702439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:74.85, Y:23.01, Z:0.43 [[ 8.49494254e-01 -5.27571008e-01 -5.32392614e-03 7.48501635e+01] [ 5.27560400e-01 8.49510936e-01 -3.34582885e-03 2.30086731e+01] [ 6.28789577e-03 3.35697769e-05 9.99980230e-01 4.30272597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.87, Y:23.02, Z:0.43 [[ 8.48734437e-01 -5.28792512e-01 -5.32297616e-03 7.48748449e+01] [ 5.28781918e-01 8.48751129e-01 -3.34733952e-03 2.30224382e+01] [ 6.28793009e-03 2.63087788e-05 9.99980230e-01 4.31728489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.531858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:74.90, Y:23.04, Z:0.43 [[ 8.48117140e-01 -5.29782025e-01 -5.32203238e-03 7.48989002e+01] [ 5.29771441e-01 8.48133837e-01 -3.34883939e-03 2.30369824e+01] [ 6.28795065e-03 2.07473204e-05 9.99980230e-01 4.32127775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:23.05, Z:0.43 [[ 8.47634325e-01 -5.30554179e-01 -5.32108968e-03 7.49220760e+01] [ 5.30543601e-01 8.47651027e-01 -3.35033660e-03 2.30513688e+01] [ 6.28796222e-03 1.67902295e-05 9.99980230e-01 4.32541972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59185806400001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:74.95, Y:23.07, Z:0.43 [[ 8.47021394e-01 -5.31532171e-01 -5.32068083e-03 7.49457758e+01] [ 5.31521608e-01 8.47038105e-01 -3.35098578e-03 2.30660972e+01] [ 6.28797615e-03 1.02998135e-05 9.99980230e-01 4.32655476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.621858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:74.97, Y:23.08, Z:0.43 [[ 8.46370070e-01 -5.32568685e-01 -5.31975082e-03 7.49695290e+01] [ 5.32558133e-01 8.46386789e-01 -3.35246153e-03 2.30796910e+01] [ 6.28798284e-03 4.34653998e-06 9.99980230e-01 4.32002070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.651858064 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:74.99, Y:23.09, Z:0.43 [[ 8.45930491e-01 -5.33266640e-01 -5.31934762e-03 7.49938903e+01] [ 5.33256098e-01 8.45947215e-01 -3.35310117e-03 2.30943790e+01] [ 6.28798430e-03 -8.40346336e-08 9.99980230e-01 4.32770649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.681858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:75.02, Y:23.11, Z:0.43 [[ 8.45385905e-01 -5.34129572e-01 -5.31722643e-03 7.50175031e+01] [ 5.34119025e-01 8.45402626e-01 -3.35646452e-03 2.31086312e+01] [ 6.28798414e-03 -2.52400130e-06 9.99980230e-01 4.31338742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.711858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.04, Y:23.12, Z:0.43 [[ 8.44950328e-01 -5.34818343e-01 -5.31816421e-03 7.50420645e+01] [ 5.34807820e-01 8.44967065e-01 -3.35497798e-03 2.31232766e+01] [ 6.28797737e-03 -9.40606292e-06 9.99980230e-01 4.31052791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.741858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.07, Y:23.14, Z:0.43 [[ 8.44333047e-01 -5.35792340e-01 -5.31730675e-03 7.50657739e+01] [ 5.35781828e-01 8.44349790e-01 -3.35633643e-03 2.31375410e+01] [ 6.28796619e-03 -1.50505631e-05 9.99980230e-01 4.29799640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.771858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:75.09, Y:23.15, Z:0.43 [[ 8.43823151e-01 -5.36595029e-01 -5.31637161e-03 7.50893368e+01] [ 5.36584523e-01 8.43839898e-01 -3.35781702e-03 2.31525512e+01] [ 6.28795440e-03 -1.92789838e-05 9.99980230e-01 4.30537759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.801858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:75.11, Y:23.17, Z:0.43 [[ 8.43440239e-01 -5.37196707e-01 -5.31606032e-03 7.51146146e+01] [ 5.37186210e-01 8.43456992e-01 -3.35830977e-03 2.31682247e+01] [ 6.28794120e-03 -2.31806977e-05 9.99980230e-01 4.30824669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.831858064 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:75.14, Y:23.18, Z:0.43 [[ 8.43714628e-01 -5.36765567e-01 -5.32472603e-03 7.51377968e+01] [ 5.36755148e-01 8.43731429e-01 -3.34458799e-03 2.31827674e+01] [ 6.28789837e-03 -3.61963044e-05 9.99980230e-01 4.29578089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.861858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.16, Y:23.20, Z:0.43 [[ 8.44660158e-01 -5.35276425e-01 -5.32590898e-03 7.51606390e+01] [ 5.35265989e-01 8.44676949e-01 -3.34271517e-03 2.31986076e+01] [ 6.28794917e-03 -2.73196057e-05 9.99980230e-01 4.31551467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:23.21, Z:0.43 [[ 8.44987598e-01 -5.34759485e-01 -5.31537704e-03 7.51835271e+01] [ 5.34748933e-01 8.45004316e-01 -3.35937934e-03 2.32139471e+01] [ 6.28797650e-03 -3.75831969e-06 9.99980230e-01 4.31785042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:75.21, Y:23.23, Z:0.43 [[ 8.44979790e-01 -5.34771825e-01 -5.31508849e-03 7.52071476e+01] [ 5.34761270e-01 8.44996506e-01 -3.35983580e-03 2.32298986e+01] [ 6.28797673e-03 -3.31012713e-06 9.99980230e-01 4.32170659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.951858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.23, Y:23.25, Z:0.43 [[ 8.44611809e-01 -5.35352830e-01 -5.31416867e-03 7.52320992e+01] [ 5.35342277e-01 8.44628527e-01 -3.36129004e-03 2.32472456e+01] [ 6.28797458e-03 -5.91389606e-06 9.99980230e-01 4.34537537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.981858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.25, Y:23.26, Z:0.43 [[ 8.45018732e-01 -5.34710158e-01 -5.32822053e-03 7.52546345e+01] [ 5.34699733e-01 8.45035530e-01 -3.33907644e-03 2.32621356e+01] [ 6.28797374e-03 -2.74159543e-05 9.99980230e-01 4.34641955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.011858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.28, Y:23.28, Z:0.44 [[ 8.44939908e-01 -5.34834858e-01 -5.31286052e-03 7.52771621e+01] [ 5.34824282e-01 8.44956611e-01 -3.36333970e-03 2.32767914e+01] [ 6.28796793e-03 3.73121743e-07 9.99980231e-01 4.35258448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.041858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:75.30, Y:23.29, Z:0.44 [[ 8.44838444e-01 -5.34995122e-01 -5.31246386e-03 7.53008811e+01] [ 5.34984546e-01 8.44855147e-01 -3.36396612e-03 2.32927044e+01] [ 6.28796790e-03 -7.81645950e-08 9.99980231e-01 4.35792120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.071858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:75.32, Y:23.31, Z:0.44 [[ 8.45447030e-01 -5.34032871e-01 -5.31154703e-03 7.53244929e+01] [ 5.34022266e-01 8.45463715e-01 -3.36541312e-03 2.33094846e+01] [ 6.28796151e-03 8.79414084e-06 9.99980231e-01 4.35357040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.101858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.35, Y:23.33, Z:0.43 [[ 8.46176502e-01 -5.32876241e-01 -5.31411021e-03 7.53469918e+01] [ 5.32865640e-01 8.46193188e-01 -3.36136892e-03 2.33250648e+01] [ 6.28795749e-03 1.26046535e-05 9.99980231e-01 4.34234944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.131858064 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:75.37, Y:23.34, Z:0.44 [[ 8.46531402e-01 -5.32312301e-01 -5.31029639e-03 7.53697821e+01] [ 5.32301651e-01 8.46548057e-01 -3.36738324e-03 2.33411840e+01] [ 6.28792061e-03 2.39161218e-05 9.99980231e-01 4.35724265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.161858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:75.39, Y:23.36, Z:0.44 [[ 8.46970667e-01 -5.31613111e-01 -5.30937185e-03 7.53928000e+01] [ 5.31602438e-01 8.46987307e-01 -3.36884032e-03 2.33574305e+01] [ 6.28789026e-03 3.08339141e-05 9.99980231e-01 4.35068387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.191858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.41, Y:23.37, Z:0.43 [[ 8.47953400e-01 -5.30044199e-01 -5.30845295e-03 7.54139781e+01] [ 5.30033485e-01 8.47970015e-01 -3.37028767e-03 2.33729513e+01] [ 6.28781035e-03 4.41890741e-05 9.99980231e-01 4.32705458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.221858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.44, Y:23.39, Z:0.43 [[ 8.46946165e-01 -5.31652308e-01 -5.29320102e-03 7.54391750e+01] [ 5.31641476e-01 8.46962703e-01 -3.39430087e-03 2.33891935e+01] [ 6.28773173e-03 6.07049029e-05 9.99980230e-01 4.33929023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.251858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.47, Y:23.40, Z:0.43 [[ 8.50337801e-01 -5.26210464e-01 -5.30765858e-03 7.54724684e+01] [ 5.26199668e-01 8.50354362e-01 -3.37154101e-03 2.33995190e+01] [ 6.28753079e-03 7.40605863e-05 9.99980231e-01 4.25425667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.49, Y:23.42, Z:0.44 [[ 8.45192228e-01 -5.34435474e-01 -5.36862979e-03 7.54859714e+01] [ 5.34425447e-01 8.45209272e-01 -3.27535578e-03 2.34177833e+01] [ 6.28808200e-03 -1.00827129e-04 9.99980225e-01 4.36684952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.311858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.51, Y:23.43, Z:0.44 [[ 8.43946102e-01 -5.36401718e-01 -5.30794122e-03 7.55096652e+01] [ 5.36391126e-01 8.43962794e-01 -3.37091777e-03 2.34333371e+01] [ 6.28787098e-03 -2.25965871e-06 9.99980231e-01 4.37828625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34185806400001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:75.53, Y:23.45, Z:0.44 [[ 8.42831496e-01 -5.38151377e-01 -5.30701617e-03 7.55321390e+01] [ 5.38140811e-01 8.42848204e-01 -3.37237351e-03 2.34477487e+01] [ 6.28785649e-03 -1.35793738e-05 9.99980231e-01 4.38390017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.371858064 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:75.56, Y:23.46, Z:0.44 [[ 8.40842711e-01 -5.41253522e-01 -5.30661430e-03 7.55560797e+01] [ 5.41243013e-01 8.40859455e-01 -3.37300574e-03 2.34620983e+01] [ 6.28776805e-03 -3.60006206e-05 9.99980231e-01 4.36517209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.401858064 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:75.58, Y:23.48, Z:0.44 [[ 8.39492887e-01 -5.43344821e-01 -5.30083840e-03 7.55809449e+01] [ 5.43334296e-01 8.39509621e-01 -3.38208798e-03 2.34772816e+01] [ 6.28774483e-03 -4.08884969e-05 9.99980231e-01 4.38984935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.431858064 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:75.60, Y:23.49, Z:0.44 [[ 8.38959574e-01 -5.44167887e-01 -5.30509769e-03 7.56038409e+01] [ 5.44157421e-01 8.38976345e-01 -3.37539368e-03 2.34908501e+01] [ 6.28763231e-03 -5.49894349e-05 9.99980231e-01 4.36244294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.461858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:75.63, Y:23.51, Z:0.44 [[ 8.37459903e-01 -5.46473163e-01 -5.29090475e-03 7.56293986e+01] [ 5.46462602e-01 8.37476615e-01 -3.39768404e-03 2.35067460e+01] [ 6.28775214e-03 -4.58574381e-05 9.99980231e-01 4.39275974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.491858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:75.65, Y:23.52, Z:0.44 [[ 8.37307062e-01 -5.46707189e-01 -5.30404665e-03 7.56534865e+01] [ 5.46696764e-01 8.37323858e-01 -3.37704313e-03 2.35221495e+01] [ 6.28745856e-03 -7.20830753e-05 9.99980231e-01 4.39465385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.521858064 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:75.68, Y:23.54, Z:0.44 [[ 8.36492895e-01 -5.47952109e-01 -5.30310190e-03 7.56780918e+01] [ 5.47941700e-01 8.36509701e-01 -3.37852606e-03 2.35374524e+01] [ 6.28736666e-03 -7.96776249e-05 9.99980231e-01 4.38863588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.551858064 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:75.69, Y:23.55, Z:0.44 [[ 8.33485956e-01 -5.52515201e-01 -5.30227833e-03 7.56908187e+01] [ 5.52504874e-01 8.33502814e-01 -3.37981808e-03 2.35517260e+01] [ 6.28686477e-03 -1.12503723e-04 9.99980231e-01 4.37618726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.581858064 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:75.73, Y:23.57, Z:0.44 [[ 8.36556639e-01 -5.47855675e-01 -5.21049486e-03 7.57253288e+01] [ 5.47844352e-01 8.36572860e-01 -3.52356771e-03 2.35676158e+01] [ 6.28936515e-03 9.31237824e-05 9.99980217e-01 4.39706423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.611858064 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:75.75, Y:23.58, Z:0.44 [[ 8.36691436e-01 -5.47648903e-01 -5.30271532e-03 7.57496947e+01] [ 5.47638486e-01 8.36708236e-01 -3.37883798e-03 2.35833118e+01] [ 6.28724250e-03 -7.69261825e-05 9.99980232e-01 4.40207417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641858064 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:75.77, Y:23.60, Z:0.44 [[ 8.37634242e-01 -5.46205792e-01 -5.30188357e-03 7.57734424e+01] [ 5.46195337e-01 8.37651018e-01 -3.38014262e-03 2.35980069e+01] [ 6.28738165e-03 -6.45408793e-05 9.99980232e-01 4.40031575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.671858064 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:75.80, Y:23.61, Z:0.44 [[ 8.37780785e-01 -5.45980999e-01 -5.30144767e-03 7.57967361e+01] [ 5.45970535e-01 8.37797556e-01 -3.38082616e-03 2.36132732e+01] [ 6.28740674e-03 -6.20430271e-05 9.99980232e-01 4.41270130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701858064 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:75.82, Y:23.63, Z:0.44 [[ 8.38133908e-01 -5.45438774e-01 -5.30051895e-03 7.58210665e+01] [ 5.45428290e-01 8.38150667e-01 -3.38228159e-03 2.36288148e+01] [ 6.28746102e-03 -5.62480945e-05 9.99980232e-01 4.42575768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.731858064 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:75.82, Y:23.65, Z:0.43 [[ 8.32088018e-01 -5.54618287e-01 -5.29969300e-03 7.58224029e+01] [ 5.54607979e-01 8.32104886e-01 -3.38357527e-03 2.36470119e+01] [ 6.28649316e-03 -1.23819583e-04 9.99980232e-01 4.34259411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.761858064 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:75.86, Y:23.66, Z:0.45 [[ 8.38828860e-01 -5.44370728e-01 -5.16286724e-03 7.58624122e+01] [ 5.44358874e-01 8.38844722e-01 -3.59842281e-03 2.36601217e+01] [ 6.28971998e-03 2.08008305e-04 9.99980198e-01 4.50573534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.791858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:75.89, Y:23.67, Z:0.45 [[ 8.40682372e-01 -5.41502820e-01 -5.27687381e-03 7.58910915e+01] [ 5.41492026e-01 8.40698933e-01 -3.41895674e-03 2.36746940e+01] [ 6.28763690e-03 1.68715694e-05 9.99980232e-01 4.45706268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.821858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:75.92, Y:23.69, Z:0.45 [[ 8.40800686e-01 -5.41318792e-01 -5.30772039e-03 7.59156410e+01] [ 5.41308301e-01 8.40817438e-01 -3.37037913e-03 2.36901987e+01] [ 6.28727342e-03 -3.92960238e-05 9.99980234e-01 4.46966518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.851858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:75.93, Y:23.71, Z:0.45 [[ 8.37501739e-01 -5.46408889e-01 -5.30693235e-03 7.59318813e+01] [ 5.46398492e-01 8.37518549e-01 -3.37161950e-03 2.37084583e+01] [ 6.28693715e-03 -7.59626353e-05 9.99980234e-01 4.45207268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.97, Y:23.72, Z:0.45 [[ 8.40277693e-01 -5.42130816e-01 -5.25146698e-03 7.59678716e+01] [ 5.42119787e-01 8.40294100e-01 -3.45852364e-03 2.37236914e+01] [ 6.28774897e-03 5.91961058e-05 9.99980230e-01 4.46783381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.911858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:75.99, Y:23.74, Z:0.45 [[ 8.39920111e-01 -5.42683811e-01 -5.33749487e-03 7.59878146e+01] [ 5.42673644e-01 8.39937063e-01 -3.32349199e-03 2.37389022e+01] [ 6.28676507e-03 -1.05050039e-04 9.99980233e-01 4.51438041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.941858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:76.01, Y:23.75, Z:0.45 [[ 8.39835026e-01 -5.42815833e-01 -5.30089236e-03 7.60119262e+01] [ 5.42805306e-01 8.39851754e-01 -3.38088120e-03 2.37547845e+01] [ 6.28715959e-03 -3.79700475e-05 9.99980235e-01 4.53469368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.971858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.04, Y:23.77, Z:0.45 [[ 8.40656034e-01 -5.41543481e-01 -5.30007113e-03 7.60351458e+01] [ 5.41532920e-01 8.40672741e-01 -3.38216811e-03 2.37709127e+01] [ 6.28721642e-03 -2.69229649e-05 9.99980235e-01 4.53419967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:76.06, Y:23.79, Z:0.45 [[ 8.41082931e-01 -5.40880222e-01 -5.29978060e-03 7.60589232e+01] [ 5.40869645e-01 8.41099628e-01 -3.38262330e-03 2.37873400e+01] [ 6.28723754e-03 -2.14237360e-05 9.99980235e-01 4.54355377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.031858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:76.08, Y:23.80, Z:0.46 [[ 8.41831373e-01 -5.39714610e-01 -5.29897305e-03 7.60830921e+01] [ 5.39704002e-01 8.41848050e-01 -3.38388788e-03 2.38037307e+01] [ 6.28726386e-03 -1.12139755e-05 9.99980235e-01 4.55026276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.11, Y:23.82, Z:0.46 [[ 8.42612848e-01 -5.38493750e-01 -5.29816641e-03 7.61058611e+01] [ 5.38483109e-01 8.42629504e-01 -3.38515036e-03 2.38195326e+01] [ 6.28727365e-03 -6.01939819e-07 9.99980235e-01 4.55412891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:23.84, Z:0.45 [[ 8.44350884e-01 -5.35764430e-01 -5.29724141e-03 7.61284480e+01] [ 5.35753727e-01 8.44367500e-01 -3.38659723e-03 2.38375572e+01] [ 6.28723682e-03 2.14595364e-05 9.99980235e-01 4.54737403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.121858064 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:76.15, Y:23.85, Z:0.45 [[ 8.45157268e-01 -5.34491477e-01 -5.29643658e-03 7.61542372e+01] [ 5.34480741e-01 8.45173864e-01 -3.38785547e-03 2.38547833e+01] [ 6.28718964e-03 3.24273235e-05 9.99980235e-01 4.50506719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.151858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:76.17, Y:23.87, Z:0.45 [[ 8.45525063e-01 -5.33909256e-01 -5.31737688e-03 7.61747887e+01] [ 5.33898715e-01 8.45541782e-01 -3.35511074e-03 2.38706825e+01] [ 6.28738901e-03 -2.11046092e-06 9.99980234e-01 4.54004192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.181858064 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:76.20, Y:23.89, Z:0.45 [[ 8.45407639e-01 -5.34095390e-01 -5.29520274e-03 7.61993221e+01] [ 5.34084634e-01 8.45424221e-01 -3.38974947e-03 2.38877433e+01] [ 6.28714221e-03 3.76336799e-05 9.99980235e-01 4.47669645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.211858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.22, Y:23.90, Z:0.45 [[ 8.45705446e-01 -5.33623652e-01 -5.30054641e-03 7.62219289e+01] [ 5.33612940e-01 8.45722057e-01 -3.38140330e-03 2.39024929e+01] [ 6.28718579e-03 3.12310357e-05 9.99980235e-01 4.54826813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.25, Y:23.92, Z:0.46 [[ 8.45180048e-01 -5.34455477e-01 -5.29425658e-03 7.62463498e+01] [ 5.34444719e-01 8.45196629e-01 -3.39122276e-03 2.39186484e+01] [ 6.28714539e-03 3.67063420e-05 9.99980235e-01 4.56210732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.27, Y:23.93, Z:0.46 [[ 8.44714296e-01 -5.35191309e-01 -5.29344468e-03 7.62685506e+01] [ 5.35180558e-01 8.44730881e-01 -3.39248960e-03 2.39335098e+01] [ 6.28716714e-03 3.27357837e-05 9.99980235e-01 4.56089444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.301858064 meters Centerline goodness : 0.996451 Centerline is valid? [True, True] Translation: X:76.29, Y:23.95, Z:0.45 [[ 8.44015743e-01 -5.36292279e-01 -5.29304199e-03 7.62906708e+01] [ 5.36281546e-01 8.44032340e-01 -3.39311777e-03 2.39505075e+01] [ 6.28720148e-03 2.52840739e-05 9.99980235e-01 4.50733077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:23.97, Z:0.45 [[ 8.43267528e-01 -5.37468052e-01 -5.28867545e-03 7.63143034e+01] [ 5.37457298e-01 8.43284112e-01 -3.39992682e-03 2.39676063e+01] [ 6.28720802e-03 2.46106672e-05 9.99980235e-01 4.53687840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:23.98, Z:0.46 [[ 8.42893867e-01 -5.38053790e-01 -5.29600678e-03 7.63369776e+01] [ 5.38043120e-01 8.42910505e-01 -3.38850015e-03 2.39832351e+01] [ 6.28725509e-03 6.66598445e-06 9.99980235e-01 4.56349907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.36, Y:24.00, Z:0.46 [[ 8.41892813e-01 -5.39618844e-01 -5.29106323e-03 7.63605136e+01] [ 5.39608156e-01 8.41909439e-01 -3.39620188e-03 2.40000087e+01] [ 6.28725061e-03 4.13707937e-06 9.99980235e-01 4.55275895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.38, Y:24.02, Z:0.45 [[ 8.41593476e-01 -5.40085449e-01 -5.30368543e-03 7.63826963e+01] [ 5.40074894e-01 8.41610187e-01 -3.37654218e-03 2.40161563e+01] [ 6.28725699e-03 -2.27114770e-05 9.99980235e-01 4.53178176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:24.03, Z:0.45 [[ 8.38680455e-01 -5.44598124e-01 -5.28942952e-03 7.63954879e+01] [ 5.44587519e-01 8.38697134e-01 -3.39872860e-03 2.40317936e+01] [ 6.28717060e-03 -3.01100543e-05 9.99980235e-01 4.45356722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.481858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:76.43, Y:24.05, Z:0.45 [[ 8.40379861e-01 -5.41972774e-01 -5.21542880e-03 7.64287405e+01] [ 5.41961398e-01 8.40396035e-01 -3.51384134e-03 2.40475301e+01] [ 6.28743202e-03 1.26400416e-04 9.99980226e-01 4.52955533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.511858064 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:76.45, Y:24.06, Z:0.45 [[ 8.39621030e-01 -5.43146934e-01 -5.28528356e-03 7.64506466e+01] [ 5.43136261e-01 8.39637665e-01 -3.40508354e-03 2.40631003e+01] [ 6.28718383e-03 -1.16494008e-05 9.99980235e-01 4.50495254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.47, Y:24.08, Z:0.45 [[ 8.37167157e-01 -5.46921737e-01 -5.26930073e-03 7.64734399e+01] [ 5.46910981e-01 8.37183740e-01 -3.42994484e-03 2.40814094e+01] [ 6.28728428e-03 -1.04012611e-05 9.99980235e-01 4.53818506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.50, Y:24.10, Z:0.45 [[ 8.35061738e-01 -5.50130872e-01 -5.28362160e-03 7.64973760e+01] [ 5.50120321e-01 8.35078451e-01 -3.40765279e-03 2.40991927e+01] [ 6.28689355e-03 -6.10271465e-05 9.99980235e-01 4.53973073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.601858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:76.50, Y:24.12, Z:0.44 [[ 8.27251050e-01 -5.61807515e-01 -5.29300660e-03 7.65006856e+01] [ 5.61797293e-01 8.27267966e-01 -3.39304903e-03 2.41203432e+01] [ 6.28497525e-03 -1.66693407e-04 9.99980235e-01 4.40542595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.631858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:76.53, Y:24.14, Z:0.44 [[ 8.26209174e-01 -5.63339774e-01 -5.16716187e-03 7.65259599e+01] [ 5.63328346e-01 8.26225330e-01 -3.58860608e-03 2.41364682e+01] [ 6.29084456e-03 5.41305151e-05 9.99980211e-01 4.41414957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.661858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.55, Y:24.15, Z:0.44 [[ 8.22744894e-01 -5.68387264e-01 -5.17278845e-03 7.65483170e+01] [ 5.68375991e-01 8.22761155e-01 -3.57985403e-03 2.41536000e+01] [ 6.29071283e-03 5.21786696e-06 9.99980213e-01 4.42354577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.691858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:76.59, Y:24.17, Z:0.46 [[ 8.27300922e-01 -5.61735216e-01 -5.17021196e-03 7.65899865e+01] [ 5.61723787e-01 8.27317075e-01 -3.58386362e-03 2.41656419e+01] [ 6.29058704e-03 6.07026420e-05 9.99980212e-01 4.55235871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.721858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:76.61, Y:24.18, Z:0.45 [[ 8.25704184e-01 -5.64078544e-01 -5.29117889e-03 7.66117600e+01] [ 5.64068355e-01 8.25721117e-01 -3.39514491e-03 2.41811993e+01] [ 6.28416654e-03 -1.81201219e-04 9.99980238e-01 4.54931586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.751858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.63, Y:24.20, Z:0.46 [[ 8.24330626e-01 -5.66083970e-01 -5.28751258e-03 7.66338884e+01] [ 5.66073786e-01 8.24347562e-01 -3.40086173e-03 2.41977575e+01] [ 6.28392141e-03 -1.89687779e-04 9.99980238e-01 4.55022655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.65, Y:24.22, Z:0.44 [[ 8.19316694e-01 -5.73316855e-01 -5.28572830e-03 7.66454123e+01] [ 5.73306803e-01 8.19333708e-01 -3.40364265e-03 2.42197881e+01] [ 6.28214107e-03 -2.41682746e-04 9.99980238e-01 4.44879321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.66, Y:24.24, Z:0.44 [[ 8.17288323e-01 -5.76205309e-01 -5.21915250e-03 7.66599741e+01] [ 5.76194651e-01 8.17304975e-01 -3.50740937e-03 2.42371624e+01] [ 6.28662720e-03 -1.40683031e-04 9.99980229e-01 4.43890089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84185806400001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:76.70, Y:24.25, Z:0.45 [[ 8.24554704e-01 -5.65758705e-01 -5.16022330e-03 7.67012284e+01] [ 5.65747258e-01 8.24570849e-01 -3.59920660e-03 2.42518354e+01] [ 6.29125217e-03 4.83605523e-05 9.99980209e-01 4.53517804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.871858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.72, Y:24.27, Z:0.45 [[ 8.26358902e-01 -5.63118932e-01 -5.29471853e-03 7.67202722e+01] [ 5.63108762e-01 8.26375844e-01 -3.38908713e-03 2.42678723e+01] [ 6.28388662e-03 -1.80900080e-04 9.99980240e-01 4.52542887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:24.29, Z:0.45 [[ 8.26926593e-01 -5.62285180e-01 -5.27119991e-03 7.67437473e+01] [ 5.62274760e-01 8.26943383e-01 -3.42576859e-03 2.42868649e+01] [ 6.28524280e-03 -1.31003514e-04 9.99980239e-01 4.51620412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.75, Y:24.31, Z:0.44 [[ 8.22947473e-01 -5.68092921e-01 -5.28111314e-03 7.67462486e+01] [ 5.68082718e-01 8.22964395e-01 -3.41030611e-03 2.43067226e+01] [ 6.28353884e-03 -1.93606311e-04 9.99980240e-01 4.38335379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.961858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:76.77, Y:24.33, Z:0.44 [[ 8.25013099e-01 -5.65090141e-01 -5.14974085e-03 7.67660573e+01] [ 5.65078570e-01 8.25029168e-01 -3.61688313e-03 2.43274798e+01] [ 6.29255140e-03 7.39677588e-05 9.99980199e-01 4.40078332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.991858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.81, Y:24.34, Z:0.45 [[ 8.31409043e-01 -5.55637195e-01 -5.12950059e-03 7.68086839e+01] [ 5.55625247e-01 8.31424846e-01 -3.64831579e-03 2.43437512e+01] [ 6.29193419e-03 1.83162704e-04 9.99980189e-01 4.50379510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:24.36, Z:0.45 [[ 8.32540832e-01 -5.53938471e-01 -5.28513672e-03 7.68307258e+01] [ 5.53928008e-01 8.32557603e-01 -3.40582460e-03 2.43607788e+01] [ 6.28679802e-03 -9.20972082e-05 9.99980234e-01 4.50916718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:24.38, Z:0.45 [[ 8.32907925e-01 -5.53386372e-01 -5.28314245e-03 7.68545652e+01] [ 5.53375878e-01 8.32924676e-01 -3.40893188e-03 2.43791961e+01] [ 6.28691616e-03 -8.42372101e-05 9.99980234e-01 4.50778258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.081858064 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:76.88, Y:24.40, Z:0.45 [[ 8.33928253e-01 -5.51847485e-01 -5.29368686e-03 7.68763258e+01] [ 5.51837064e-01 8.33945049e-01 -3.39250190e-03 2.43959036e+01] [ 6.28678759e-03 -9.21494335e-05 9.99980234e-01 4.51116566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:24.41, Z:0.45 [[ 8.31964809e-01 -5.54803255e-01 -5.28254995e-03 7.68872063e+01] [ 5.54792784e-01 8.31981574e-01 -3.40985545e-03 2.44149843e+01] [ 6.28678312e-03 -9.38408590e-05 9.99980234e-01 4.48175923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.91, Y:24.43, Z:0.45 [[ 8.33043193e-01 -5.53183560e-01 -5.19491690e-03 7.69121568e+01] [ 5.53172190e-01 8.33059387e-01 -3.54761394e-03 2.44318343e+01] [ 6.29015600e-03 8.16320821e-05 9.99980213e-01 4.49365358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:24.45, Z:0.45 [[ 8.38324727e-01 -5.45146364e-01 -5.20521140e-03 7.69482409e+01] [ 5.45134940e-01 8.38340877e-01 -3.53144720e-03 2.44470600e+01] [ 6.28889709e-03 1.22956904e-04 9.99980217e-01 4.50581911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.97, Y:24.46, Z:0.45 [[ 8.38412792e-01 -5.45009935e-01 -5.30660626e-03 7.69713720e+01] [ 5.44999509e-01 8.38429583e-01 -3.37187363e-03 2.44636692e+01] [ 6.28692030e-03 -6.50758138e-05 9.99980235e-01 4.49981668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:24.48, Z:0.45 [[ 8.38454331e-01 -5.44946037e-01 -5.30574781e-03 7.69931793e+01] [ 5.44935601e-01 8.38471116e-01 -3.37322389e-03 2.44793602e+01] [ 6.28694128e-03 -6.29966914e-05 9.99980235e-01 4.49766859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:24.50, Z:0.45 [[ 8.38467657e-01 -5.44925537e-01 -5.30537539e-03 7.70160819e+01] [ 5.44915096e-01 8.38484440e-01 -3.37380952e-03 2.44952860e+01] [ 6.28694968e-03 -6.21489726e-05 9.99980235e-01 4.50011805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.04, Y:24.51, Z:0.45 [[ 8.38597166e-01 -5.44726220e-01 -5.30452797e-03 7.70390974e+01] [ 5.44715767e-01 8.38613941e-01 -3.37514137e-03 2.45123767e+01] [ 6.28697910e-03 -5.90760315e-05 9.99980235e-01 4.48925954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.06, Y:24.53, Z:0.45 [[ 8.38808902e-01 -5.44400126e-01 -5.30371282e-03 7.70634508e+01] [ 5.44389658e-01 8.38825667e-01 -3.37642182e-03 2.45286726e+01] [ 6.28701490e-03 -5.51137281e-05 9.99980235e-01 4.51154644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.351858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.09, Y:24.54, Z:0.45 [[ 8.39102001e-01 -5.43948268e-01 -5.30225193e-03 7.70870232e+01] [ 5.43937777e-01 8.39118751e-01 -3.37871544e-03 2.45434784e+01] [ 6.28706543e-03 -4.90082445e-05 9.99980235e-01 4.53040377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:24.56, Z:0.45 [[ 8.38911553e-01 -5.44241858e-01 -5.31093521e-03 7.71105527e+01] [ 5.44231459e-01 8.38928362e-01 -3.36508382e-03 2.45591741e+01] [ 6.28691365e-03 -6.73703267e-05 9.99980235e-01 4.52461229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:24.57, Z:0.45 [[ 8.38749192e-01 -5.44492054e-01 -5.30992060e-03 7.71345950e+01] [ 5.44481650e-01 8.38765997e-01 -3.36667553e-03 2.45746143e+01] [ 6.28690892e-03 -6.73579474e-05 9.99980235e-01 4.52640310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:24.59, Z:0.45 [[ 8.38850508e-01 -5.44335961e-01 -5.30905290e-03 7.71584207e+01] [ 5.44325545e-01 8.38867306e-01 -3.36803592e-03 2.45899128e+01] [ 6.28693398e-03 -6.45744742e-05 9.99980235e-01 4.53883301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.18, Y:24.61, Z:0.45 [[ 8.37166643e-01 -5.46922076e-01 -5.31554064e-03 7.71789123e+01] [ 5.46911776e-01 8.37183513e-01 -3.35786785e-03 2.46071920e+01] [ 6.28657504e-03 -9.60368166e-05 9.99980235e-01 4.48151018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:24.62, Z:0.45 [[ 8.38002412e-01 -5.45640797e-01 -5.29882248e-03 7.72062714e+01] [ 5.45630306e-01 8.38019163e-01 -3.38404557e-03 2.46221011e+01] [ 6.28698810e-03 -5.53597837e-05 9.99980235e-01 4.53080255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.22, Y:24.64, Z:0.45 [[ 8.34952725e-01 -5.50295976e-01 -5.31841677e-03 7.72211690e+01] [ 5.50285774e-01 8.34969653e-01 -3.35336768e-03 2.46396565e+01] [ 6.28606135e-03 -1.26745604e-04 9.99980234e-01 4.51045521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:24.65, Z:0.45 [[ 8.37283499e-01 -5.46743592e-01 -5.27135837e-03 7.72537614e+01] [ 5.46732852e-01 8.37300092e-01 -3.42703345e-03 2.46531044e+01] [ 6.28741742e-03 -1.26262381e-05 9.99980234e-01 4.52696847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:24.67, Z:0.45 [[ 8.35282438e-01 -5.49795361e-01 -5.32079648e-03 7.72742460e+01] [ 5.49785172e-01 8.35299375e-01 -3.34960072e-03 2.46691630e+01] [ 6.28605291e-03 -1.27432351e-04 9.99980234e-01 4.47874659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:24.68, Z:0.45 [[ 8.34928126e-01 -5.50333494e-01 -5.29808786e-03 7.72975914e+01] [ 5.50323090e-01 8.34944931e-01 -3.38514201e-03 2.46838781e+01] [ 6.28656863e-03 -8.93098107e-05 9.99980235e-01 4.47606096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.32, Y:24.70, Z:0.45 [[ 8.34695170e-01 -5.50686765e-01 -5.29712744e-03 7.73216521e+01] [ 5.50676358e-01 8.34711974e-01 -3.38664422e-03 2.46991087e+01] [ 6.28655585e-03 -9.01872700e-05 9.99980235e-01 4.47596475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:24.72, Z:0.45 [[ 8.32131355e-01 -5.54553296e-01 -5.29617048e-03 7.73376356e+01] [ 5.54542959e-01 8.32148201e-01 -3.38814009e-03 2.47166358e+01] [ 6.28610299e-03 -1.17576442e-04 9.99980235e-01 4.50305382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.711858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.37, Y:24.73, Z:0.45 [[ 8.34453931e-01 -5.51052833e-01 -5.23565831e-03 7.73678033e+01] [ 5.51041831e-01 8.34470356e-01 -3.48216400e-03 2.47316287e+01] [ 6.28785799e-03 2.06386974e-05 9.99980231e-01 4.50040452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:24.75, Z:0.45 [[ 8.35297664e-01 -5.49772575e-01 -5.28475312e-03 7.73920898e+01] [ 5.49762029e-01 8.35314379e-01 -3.40582961e-03 2.47466477e+01] [ 6.28686199e-03 -6.04750822e-05 9.99980236e-01 4.49390942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:24.76, Z:0.45 [[ 8.32016622e-01 -5.54725461e-01 -5.29193608e-03 7.74037649e+01] [ 5.54715085e-01 8.32033443e-01 -3.39466681e-03 2.47638583e+01] [ 6.28617591e-03 -1.11097562e-04 9.99980236e-01 4.53019428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:24.78, Z:0.45 [[ 8.37403063e-01 -5.46561183e-01 -5.19461927e-03 7.74401938e+01] [ 5.46549695e-01 8.37419164e-01 -3.54604214e-03 2.47778410e+01] [ 6.28820272e-03 1.30348972e-04 9.99980221e-01 4.49614326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:24.79, Z:0.45 [[ 8.39037490e-01 -5.44047873e-01 -5.29167580e-03 7.74658512e+01] [ 5.44037283e-01 8.39054176e-01 -3.39475246e-03 2.47926725e+01] [ 6.28691053e-03 -3.05443394e-05 9.99980237e-01 4.52339192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:24.81, Z:0.46 [[ 8.35972645e-01 -5.48745537e-01 -5.29827850e-03 7.74805330e+01] [ 5.48735106e-01 8.35989431e-01 -3.38446173e-03 2.48110419e+01] [ 6.28651310e-03 -7.80339850e-05 9.99980237e-01 4.55281841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:24.82, Z:0.45 [[ 8.39339547e-01 -5.43582297e-01 -5.23562281e-03 7.75130709e+01] [ 5.43571150e-01 8.39355872e-01 -3.48200550e-03 2.48244005e+01] [ 6.28730730e-03 7.66514058e-05 9.99980232e-01 4.51248086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.54, Y:24.84, Z:0.45 [[ 8.39559003e-01 -5.43242808e-01 -5.28504129e-03 7.75366469e+01] [ 5.43232137e-01 8.39575638e-01 -3.40502039e-03 2.48396755e+01] [ 6.28694475e-03 -1.22887503e-05 9.99980237e-01 4.48927649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.951858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.55, Y:24.86, Z:0.45 [[ 8.37858688e-01 -5.45861548e-01 -5.29050346e-03 7.75520148e+01] [ 5.45850982e-01 8.37875390e-01 -3.39651236e-03 2.48567183e+01] [ 6.28680814e-03 -4.20291258e-05 9.99980237e-01 4.52662932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.981858064 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:77.58, Y:24.87, Z:0.45 [[ 8.38364397e-01 -5.45085100e-01 -5.23185779e-03 7.75818723e+01] [ 5.45073951e-01 8.38380718e-01 -3.48702840e-03 2.48745462e+01] [ 6.28701592e-03 7.16510589e-05 9.99980234e-01 4.49337860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:24.89, Z:0.45 [[ 8.39660312e-01 -5.43086251e-01 -5.28062031e-03 7.76048713e+01] [ 5.43075535e-01 8.39676916e-01 -3.41169699e-03 2.48883919e+01] [ 6.28686070e-03 -3.10914241e-06 9.99980237e-01 4.47944847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:24.90, Z:0.45 [[ 8.40358762e-01 -5.42004896e-01 -5.27663716e-03 7.76287672e+01] [ 5.41994120e-01 8.40375328e-01 -3.41784636e-03 2.49034258e+01] [ 6.28684515e-03 1.23108221e-05 9.99980238e-01 4.47707902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:24.92, Z:0.45 [[ 8.41477044e-01 -5.40267112e-01 -5.27573107e-03 7.76522097e+01] [ 5.40256292e-01 8.41493581e-01 -3.41924441e-03 2.49178952e+01] [ 6.28679914e-03 2.69687706e-05 9.99980238e-01 4.49440797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:24.93, Z:0.45 [[ 8.41405968e-01 -5.40377820e-01 -5.27343247e-03 7.76773779e+01] [ 5.40366980e-01 8.41422493e-01 -3.42278931e-03 2.49336385e+01] [ 6.28678411e-03 3.03665731e-05 9.99980238e-01 4.49829996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.131858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:77.70, Y:24.95, Z:0.45 [[ 8.43090153e-01 -5.37746223e-01 -5.29086659e-03 7.76997432e+01] [ 5.37735500e-01 8.43106755e-01 -3.39587690e-03 2.49465758e+01] [ 6.28688534e-03 1.79435842e-05 9.99980237e-01 4.48185092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:24.96, Z:0.45 [[ 8.42974831e-01 -5.37927236e-01 -5.26530313e-03 7.77243679e+01] [ 5.37916271e-01 8.42991272e-01 -3.43529376e-03 2.49619617e+01] [ 6.28654266e-03 6.35739467e-05 9.99980237e-01 4.47400311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:24.98, Z:0.45 [[ 8.43170545e-01 -5.37620325e-01 -5.27428645e-03 7.77487865e+01] [ 5.37609440e-01 8.43187039e-01 -3.42144564e-03 2.49763031e+01] [ 6.28664870e-03 4.93560019e-05 9.99980238e-01 4.49263875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.77, Y:24.99, Z:0.45 [[ 8.42787657e-01 -5.38220376e-01 -5.27188281e-03 7.77736640e+01] [ 5.38209479e-01 8.42804144e-01 -3.42514893e-03 2.49904991e+01] [ 6.28664962e-03 4.92959378e-05 9.99980238e-01 4.49272839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:25.00, Z:0.45 [[ 8.42277102e-01 -5.39018882e-01 -5.28467103e-03 7.77962199e+01] [ 5.39008125e-01 8.42293680e-01 -3.40543804e-03 2.50043785e+01] [ 6.28684042e-03 1.98418620e-05 9.99980237e-01 4.50824014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:25.02, Z:0.45 [[ 8.40462288e-01 -5.41844431e-01 -5.26823389e-03 7.78215142e+01] [ 5.41833571e-01 8.40478799e-01 -3.43075422e-03 2.50178343e+01] [ 6.28677396e-03 2.89135572e-05 9.99980238e-01 4.49883875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:25.03, Z:0.45 [[ 8.39577388e-01 -5.43214518e-01 -5.27224433e-03 7.78443612e+01] [ 5.43203723e-01 8.39593942e-01 -3.42458002e-03 2.50319577e+01] [ 6.28682599e-03 1.12971985e-05 9.99980238e-01 4.49944388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:25.05, Z:0.45 [[ 8.38872240e-01 -5.44302832e-01 -5.27183727e-03 7.78680410e+01] [ 5.44292055e-01 8.38888805e-01 -3.42520655e-03 2.50463102e+01] [ 6.28683489e-03 3.89154630e-06 9.99980238e-01 4.49437491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.89, Y:25.06, Z:0.45 [[ 8.38148379e-01 -5.45416824e-01 -5.27094443e-03 7.78924791e+01] [ 5.45406060e-01 8.38164953e-01 -3.42657996e-03 2.50607677e+01] [ 6.28683525e-03 -2.82259788e-06 9.99980238e-01 4.49307100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:25.07, Z:0.45 [[ 8.36887186e-01 -5.47350038e-01 -5.27000589e-03 7.79165983e+01] [ 5.47339304e-01 8.36903779e-01 -3.42802281e-03 2.50727477e+01] [ 6.28681626e-03 -1.56129937e-05 9.99980238e-01 4.48795828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:25.09, Z:0.45 [[ 8.36224824e-01 -5.48361445e-01 -5.26959947e-03 7.79412793e+01] [ 5.48350726e-01 8.36241428e-01 -3.42864745e-03 2.50871784e+01] [ 6.28679545e-03 -2.24685889e-05 9.99980238e-01 4.49006576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:25.10, Z:0.45 [[ 8.35493889e-01 -5.49474479e-01 -5.26866767e-03 7.79645112e+01] [ 5.49463774e-01 8.35510500e-01 -3.43007870e-03 2.51007161e+01] [ 6.28676787e-03 -2.91322304e-05 9.99980238e-01 4.49092022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.99, Y:25.11, Z:0.45 [[ 8.34890191e-01 -5.50391328e-01 -5.26826414e-03 7.79885408e+01] [ 5.50380637e-01 8.34906812e-01 -3.43069837e-03 2.51148603e+01] [ 6.28673625e-03 -3.52941564e-05 9.99980238e-01 4.49149041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.521858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:25.13, Z:0.45 [[ 8.33777183e-01 -5.52075959e-01 -5.26733705e-03 7.80122142e+01] [ 5.52065293e-01 8.33793819e-01 -3.43212121e-03 2.51273432e+01] [ 6.28666468e-03 -4.62896198e-05 9.99980238e-01 4.48179897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:25.14, Z:0.45 [[ 8.33213753e-01 -5.52925945e-01 -5.26693538e-03 7.80368389e+01] [ 5.52915292e-01 8.33230398e-01 -3.43273750e-03 2.51418069e+01] [ 6.28662029e-03 -5.19650194e-05 9.99980238e-01 4.47629857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.06, Y:25.16, Z:0.45 [[ 8.32538575e-01 -5.53942046e-01 -5.26602471e-03 7.80608754e+01] [ 5.53931404e-01 8.32555227e-01 -3.43413395e-03 2.51556930e+01] [ 6.28656758e-03 -5.79674756e-05 9.99980238e-01 4.47305326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:25.17, Z:0.45 [[ 8.31508925e-01 -5.55486441e-01 -5.26509088e-03 7.80860757e+01] [ 5.55475821e-01 8.31525591e-01 -3.43556507e-03 2.51676979e+01] [ 6.28646762e-03 -6.79276604e-05 9.99980238e-01 4.47138708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:25.18, Z:0.45 [[ 8.31055958e-01 -5.56163900e-01 -5.26416300e-03 7.81096048e+01] [ 5.56153284e-01 8.31072627e-01 -3.43698622e-03 2.51806178e+01] [ 6.28642944e-03 -7.13536671e-05 9.99980238e-01 4.47766223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:25.19, Z:0.45 [[ 8.32750176e-01 -5.53623914e-01 -5.26376108e-03 7.81427512e+01] [ 5.53613243e-01 8.32766810e-01 -3.43760165e-03 2.51939813e+01] [ 6.28662401e-03 -5.14244627e-05 9.99980238e-01 4.48323820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:25.21, Z:0.45 [[ 8.30203534e-01 -5.57435051e-01 -5.31568329e-03 7.81601892e+01] [ 5.57424964e-01 8.30220533e-01 -3.35803196e-03 2.52090303e+01] [ 6.28507413e-03 -1.75244568e-04 9.99980233e-01 4.49257657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:25.22, Z:0.45 [[ 8.29487033e-01 -5.58501176e-01 -5.26292783e-03 7.81861420e+01] [ 5.58490596e-01 8.29503724e-01 -3.43877251e-03 2.52212219e+01] [ 6.28617673e-03 -8.68784913e-05 9.99980238e-01 4.51115450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:25.23, Z:0.45 [[ 8.30109408e-01 -5.57575770e-01 -5.25659924e-03 7.82085829e+01] [ 5.57565110e-01 8.30126048e-01 -3.44845285e-03 2.52330390e+01] [ 6.28641371e-03 -6.83031842e-05 9.99980238e-01 4.52262298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.24, Y:25.25, Z:0.45 [[ 8.28809125e-01 -5.59506994e-01 -5.23051819e-03 7.82352995e+01] [ 5.59496120e-01 8.28825629e-01 -3.48834125e-03 2.52485153e+01] [ 6.28693886e-03 -3.52855751e-05 9.99980236e-01 4.52236000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:25.26, Z:0.45 [[ 8.28591499e-01 -5.59828932e-01 -5.26261214e-03 7.82599062e+01] [ 5.59818376e-01 8.28608205e-01 -3.43923205e-03 2.52625403e+01] [ 6.28602521e-03 -9.63885487e-05 9.99980238e-01 4.53501227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:25.28, Z:0.46 [[ 8.29014648e-01 -5.59202136e-01 -5.26170342e-03 7.82852658e+01] [ 5.59191558e-01 8.29031340e-01 -3.44062175e-03 2.52754497e+01] [ 6.28612007e-03 -8.99743049e-05 9.99980238e-01 4.55328399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:25.29, Z:0.46 [[ 8.29624554e-01 -5.58296896e-01 -5.26073749e-03 7.83089485e+01] [ 5.58286291e-01 8.29641229e-01 -3.44209802e-03 2.52894399e+01] [ 6.28623736e-03 -8.13485854e-05 9.99980238e-01 4.55497818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.34, Y:25.30, Z:0.45 [[ 8.32998391e-01 -5.53250404e-01 -5.26031912e-03 7.83419265e+01] [ 5.53239694e-01 8.33014999e-01 -3.44273727e-03 2.53022232e+01] [ 6.28662052e-03 -4.24227307e-05 9.99980238e-01 4.54984910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.941858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.36, Y:25.32, Z:0.45 [[ 8.32181967e-01 -5.54477102e-01 -5.32127307e-03 7.83584967e+01] [ 5.54467009e-01 8.32198964e-01 -3.34951616e-03 2.53163688e+01] [ 6.28558795e-03 -1.63063414e-04 9.99980232e-01 4.54274695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:25.33, Z:0.45 [[ 8.35777690e-01 -5.49042801e-01 -5.25887223e-03 7.83932578e+01] [ 5.49031994e-01 8.35794235e-01 -3.44477867e-03 2.53291988e+01] [ 6.28666603e-03 -8.21994816e-06 9.99980239e-01 4.52629855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.42, Y:25.34, Z:0.45 [[ 8.36245560e-01 -5.48329273e-01 -5.32653423e-03 7.84176160e+01] [ 5.48319107e-01 8.36262514e-01 -3.34138266e-03 2.53439646e+01] [ 6.28655883e-03 -1.26424078e-04 9.99980231e-01 4.52163045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.43, Y:25.36, Z:0.45 [[ 8.34143229e-01 -5.51522208e-01 -5.32238978e-03 7.84323560e+01] [ 5.51512066e-01 8.34160197e-01 -3.34771158e-03 2.53600774e+01] [ 6.28606299e-03 -1.42891236e-04 9.99980232e-01 4.53766681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:25.37, Z:0.45 [[ 8.34823094e-01 -5.50493206e-01 -5.25663948e-03 7.84578544e+01] [ 5.50482408e-01 8.34839643e-01 -3.44795250e-03 2.53732075e+01] [ 6.28652545e-03 -1.52571807e-05 9.99980239e-01 4.52596783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.48, Y:25.39, Z:0.45 [[ 8.34774925e-01 -5.50566256e-01 -5.25568487e-03 7.84816996e+01] [ 5.50555450e-01 8.34791470e-01 -3.44940699e-03 2.53868941e+01] [ 6.28652799e-03 -1.40674859e-05 9.99980239e-01 4.52630275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.51, Y:25.40, Z:0.45 [[ 8.34785443e-01 -5.50550315e-01 -5.25503597e-03 7.85062853e+01] [ 5.50539503e-01 8.34801983e-01 -3.45039528e-03 2.54007653e+01] [ 6.28653065e-03 -1.27651441e-05 9.99980239e-01 4.53186479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.151858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:78.53, Y:25.41, Z:0.45 [[ 8.34577366e-01 -5.50865695e-01 -5.25405439e-03 7.85293485e+01] [ 5.50854880e-01 8.34593905e-01 -3.45188932e-03 2.54143822e+01] [ 6.28652918e-03 -1.33527992e-05 9.99980239e-01 4.53019819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.55, Y:25.43, Z:0.45 [[ 8.34695511e-01 -5.50686667e-01 -5.25338760e-03 7.85541495e+01] [ 5.50675842e-01 8.34712043e-01 -3.45290380e-03 2.54269146e+01] [ 6.28653398e-03 -1.07903339e-05 9.99980239e-01 4.54649917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.58, Y:25.44, Z:0.46 [[ 8.34827481e-01 -5.50486593e-01 -5.25242398e-03 7.85784042e+01] [ 5.50475754e-01 8.34844004e-01 -3.45436900e-03 2.54413745e+01] [ 6.28653849e-03 -7.52987968e-06 9.99980239e-01 4.55556484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.241858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:78.61, Y:25.45, Z:0.46 [[ 8.37168875e-01 -5.46919278e-01 -5.25143430e-03 7.86105064e+01] [ 5.46908360e-01 8.37185346e-01 -3.45587289e-03 2.54544601e+01] [ 6.28650734e-03 2.10959010e-05 9.99980239e-01 4.56323376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.271858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:78.63, Y:25.47, Z:0.46 [[ 8.35398759e-01 -5.49618789e-01 -5.30092750e-03 7.86272295e+01] [ 5.49608400e-01 8.35415572e-01 -3.38061579e-03 2.54698890e+01] [ 6.28652734e-03 -8.92720475e-05 9.99980236e-01 4.56158339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.301858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:78.65, Y:25.49, Z:0.46 [[ 8.35246461e-01 -5.49850695e-01 -5.24997285e-03 7.86510363e+01] [ 5.49839821e-01 8.35262961e-01 -3.45797626e-03 2.54857128e+01] [ 6.28647852e-03 1.61829750e-06 9.99980240e-01 4.56303705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:25.50, Z:0.46 [[ 8.36241640e-01 -5.48335999e-01 -5.24901444e-03 7.86803305e+01] [ 5.48325087e-01 8.36258113e-01 -3.45943047e-03 2.54993301e+01] [ 6.28646117e-03 1.47535104e-05 9.99980240e-01 4.58330689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.361858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:78.70, Y:25.51, Z:0.46 [[ 8.35416130e-01 -5.49592560e-01 -5.28275609e-03 7.86998426e+01] [ 5.49581995e-01 8.35432831e-01 -3.40817502e-03 2.55136680e+01] [ 6.28649551e-03 -5.60632505e-05 9.99980238e-01 4.57640734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.73, Y:25.53, Z:0.46 [[ 8.36109186e-01 -5.48537978e-01 -5.24550513e-03 7.87300392e+01] [ 5.48527036e-01 8.36125640e-01 -3.46468384e-03 2.55279224e+01] [ 6.28641201e-03 1.95526053e-05 9.99980240e-01 4.58750314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:78.75, Y:25.54, Z:0.46 [[ 8.34154099e-01 -5.51506080e-01 -5.28987143e-03 7.87477589e+01] [ 5.51495621e-01 8.34170868e-01 -3.39746493e-03 2.55436173e+01] [ 6.28637921e-03 -8.33316355e-05 9.99980237e-01 4.58613913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.77, Y:25.56, Z:0.46 [[ 8.34584647e-01 -5.50854688e-01 -5.25151146e-03 7.87710700e+01] [ 5.50843850e-01 8.34601169e-01 -3.45553509e-03 2.55577062e+01] [ 6.28641531e-03 -8.82625554e-06 9.99980240e-01 4.56997762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.80, Y:25.57, Z:0.46 [[ 8.35877370e-01 -5.48891175e-01 -5.24415026e-03 7.88011902e+01] [ 5.48880227e-01 8.35893820e-01 -3.46667062e-03 2.55724520e+01] [ 6.28637771e-03 1.93011305e-05 9.99980240e-01 4.57976632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.511858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.83, Y:25.59, Z:0.46 [[ 8.36089750e-01 -5.48567208e-01 -5.28664416e-03 7.88251501e+01] [ 5.48556659e-01 8.36106462e-01 -3.40252058e-03 2.55872212e+01] [ 6.28670855e-03 -5.52112792e-05 9.99980237e-01 4.58305635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:25.60, Z:0.45 [[ 8.36476869e-01 -5.47976745e-01 -5.28536169e-03 7.88506569e+01] [ 5.47966171e-01 8.36493565e-01 -3.40446270e-03 2.56012298e+01] [ 6.28673743e-03 -4.84451028e-05 9.99980237e-01 4.54875085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.571858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:78.87, Y:25.62, Z:0.46 [[ 8.35793441e-01 -5.49018518e-01 -5.29065297e-03 7.88713319e+01] [ 5.49008015e-01 8.35810184e-01 -3.39645436e-03 2.56167835e+01] [ 6.28669797e-03 -6.58766131e-05 9.99980236e-01 4.56074052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:25.63, Z:0.46 [[ 8.34756599e-01 -5.50594023e-01 -5.25760250e-03 7.88956007e+01] [ 5.50583238e-01 8.34773155e-01 -3.44631390e-03 2.56331714e+01] [ 6.28642526e-03 -1.79145337e-05 9.99980240e-01 4.58642238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.631858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:78.92, Y:25.65, Z:0.46 [[ 8.33625959e-01 -5.52304350e-01 -5.25977828e-03 7.89159890e+01] [ 5.52293619e-01 8.33642552e-01 -3.44303597e-03 2.56482513e+01] [ 6.28637873e-03 -3.47378154e-05 9.99980240e-01 4.57750950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.661858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:78.94, Y:25.66, Z:0.46 [[ 8.32626556e-01 -5.53810077e-01 -5.23618343e-03 7.89405964e+01] [ 5.53799152e-01 8.32643020e-01 -3.47855276e-03 2.56625711e+01] [ 6.28632915e-03 -3.45853849e-06 9.99980241e-01 4.57445652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.691858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:78.96, Y:25.68, Z:0.46 [[ 8.31936932e-01 -5.54845500e-01 -5.23562473e-03 7.89646437e+01] [ 5.54834591e-01 8.31953407e-01 -3.47939334e-03 2.56777461e+01] [ 6.28632157e-03 -1.02698811e-05 9.99980241e-01 4.59208640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.99, Y:25.69, Z:0.46 [[ 8.31711313e-01 -5.55183656e-01 -5.23458718e-03 7.89871629e+01] [ 5.55172743e-01 8.31727785e-01 -3.48095359e-03 2.56921980e+01] [ 6.28632014e-03 -1.09516449e-05 9.99980241e-01 4.59405943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:25.71, Z:0.46 [[ 8.30793522e-01 -5.56556273e-01 -5.21914613e-03 7.90113284e+01] [ 5.56545242e-01 8.30809915e-01 -3.50416178e-03 2.57076219e+01] [ 6.28638157e-03 6.54395992e-06 9.99980240e-01 4.59892303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:79.04, Y:25.72, Z:0.46 [[ 8.28835428e-01 -5.59468111e-01 -5.22167544e-03 7.90366581e+01] [ 5.59457161e-01 8.28851876e-01 -3.50036112e-03 2.57222523e+01] [ 6.28633591e-03 -2.00804120e-05 9.99980241e-01 4.61079159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.811858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:79.06, Y:25.74, Z:0.46 [[ 8.27833993e-01 -5.60948742e-01 -5.23342606e-03 7.90603131e+01] [ 5.60937933e-01 8.27850534e-01 -3.48270359e-03 2.57371461e+01] [ 6.28611275e-03 -5.25267751e-05 9.99980241e-01 4.61307549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.08, Y:25.75, Z:0.46 [[ 8.27198068e-01 -5.61886090e-01 -5.23244702e-03 7.90820577e+01] [ 5.61875291e-01 8.27214614e-01 -3.48417389e-03 2.57512794e+01] [ 6.28606548e-03 -5.78807781e-05 9.99980241e-01 4.61823566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:25.77, Z:0.46 [[ 8.28141172e-01 -5.60495251e-01 -5.22223412e-03 7.91138131e+01] [ 5.60484327e-01 8.28157637e-01 -3.49950747e-03 2.57660382e+01] [ 6.28629039e-03 -2.88941606e-05 9.99980241e-01 4.60547893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:25.78, Z:0.46 [[ 8.25506633e-01 -5.64367578e-01 -5.29485686e-03 7.91297227e+01] [ 5.64357426e-01 8.25523592e-01 -3.39036222e-03 2.57814496e+01] [ 6.28443977e-03 -1.89425282e-04 9.99980235e-01 4.61061475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:25.80, Z:0.46 [[ 8.25054029e-01 -5.65029711e-01 -5.22264797e-03 7.91540358e+01] [ 5.65018882e-01 8.25070556e-01 -3.49866779e-03 2.57974815e+01] [ 6.28590431e-03 -6.43047614e-05 9.99980241e-01 4.61486007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.961858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:79.18, Y:25.81, Z:0.46 [[ 8.27358509e-01 -5.61649841e-01 -5.23002736e-03 7.91830550e+01] [ 5.61639015e-01 8.27375038e-01 -3.48760161e-03 2.58106403e+01] [ 6.28600497e-03 -5.18905473e-05 9.99980242e-01 4.57075883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.991858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:79.20, Y:25.83, Z:0.46 [[ 8.24179235e-01 -5.66304555e-01 -5.26687244e-03 7.92010756e+01] [ 5.66294174e-01 8.24196049e-01 -3.43235928e-03 2.58294114e+01] [ 6.28469616e-03 -1.53719931e-04 9.99980239e-01 4.60614404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.021858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.22, Y:25.84, Z:0.46 [[ 8.24597528e-01 -5.65695671e-01 -5.22726465e-03 7.92235290e+01] [ 5.65684900e-01 8.24614093e-01 -3.49165509e-03 2.58445263e+01] [ 6.28569027e-03 -7.77745257e-05 9.99980242e-01 4.60184773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:25.86, Z:0.46 [[ 8.24208677e-01 -5.66262235e-01 -5.20941224e-03 7.92477618e+01] [ 5.66251307e-01 8.24225138e-01 -3.51836609e-03 2.58607662e+01] [ 6.28604637e-03 -4.99686280e-05 9.99980241e-01 4.62589535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.081858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:79.27, Y:25.88, Z:0.46 [[ 8.23454311e-01 -5.67358624e-01 -5.21436947e-03 7.92719533e+01] [ 5.67347764e-01 8.23470818e-01 -3.51094761e-03 2.58769464e+01] [ 6.28584749e-03 -6.72559135e-05 9.99980242e-01 4.63286986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.111858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:79.29, Y:25.89, Z:0.46 [[ 8.23422745e-01 -5.67404323e-01 -5.22657783e-03 7.92947449e+01] [ 5.67393580e-01 8.23439328e-01 -3.49267856e-03 2.58925484e+01] [ 6.28553064e-03 -8.95757404e-05 9.99980242e-01 4.64463563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:79.32, Y:25.91, Z:0.47 [[ 8.23539446e-01 -5.67234938e-01 -5.22561259e-03 7.93179606e+01] [ 5.67224183e-01 8.23556020e-01 -3.49412211e-03 2.59083455e+01] [ 6.28557284e-03 -8.65464390e-05 9.99980242e-01 4.65195481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.171858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.34, Y:25.92, Z:0.47 [[ 8.23869583e-01 -5.66755338e-01 -5.22465076e-03 7.93401234e+01] [ 5.66744564e-01 8.23886145e-01 -3.49555972e-03 2.59240392e+01] [ 6.28564450e-03 -8.11570857e-05 9.99980242e-01 4.65317471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.36, Y:25.94, Z:0.47 [[ 8.24711885e-01 -5.65528968e-01 -5.22423418e-03 7.93624997e+01] [ 5.65518165e-01 8.24728429e-01 -3.49618220e-03 2.59412443e+01] [ 6.28576676e-03 -7.10563131e-05 9.99980242e-01 4.65091918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:25.96, Z:0.47 [[ 8.25544981e-01 -5.64312149e-01 -5.22326518e-03 7.93848993e+01] [ 5.64301313e-01 8.25561503e-01 -3.49762928e-03 2.59574086e+01] [ 6.28588134e-03 -6.00450991e-05 9.99980242e-01 4.65221034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:25.97, Z:0.47 [[ 8.25959914e-01 -5.63704739e-01 -5.21423243e-03 7.94084244e+01] [ 5.63693805e-01 8.25976371e-01 -3.51111308e-03 2.59736784e+01] [ 6.28606387e-03 -3.91918622e-05 9.99980242e-01 4.65383898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.43, Y:25.99, Z:0.47 [[ 8.26529262e-01 -5.62869530e-01 -5.22223388e-03 7.94311429e+01] [ 5.62858655e-01 8.26545758e-01 -3.49917156e-03 2.59894852e+01] [ 6.28599231e-03 -4.72118510e-05 9.99980242e-01 4.65396140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.45, Y:26.01, Z:0.46 [[ 8.28426258e-01 -5.60073811e-01 -5.22125212e-03 7.94532473e+01] [ 5.60062871e-01 8.28442711e-01 -3.50063587e-03 2.60050701e+01] [ 6.28612273e-03 -2.42107845e-05 9.99980242e-01 4.64907873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.351858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:79.48, Y:26.02, Z:0.47 [[ 8.30142726e-01 -5.57526500e-01 -5.22082703e-03 7.94802286e+01] [ 5.57515506e-01 8.30159143e-01 -3.50126974e-03 2.60203954e+01] [ 6.28616795e-03 -4.13841495e-06 9.99980242e-01 4.65737222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.381858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:79.50, Y:26.04, Z:0.47 [[ 8.30195957e-01 -5.57446988e-01 -5.24676996e-03 7.94999157e+01] [ 5.57436236e-01 8.30212535e-01 -3.46258688e-03 2.60370945e+01] [ 6.28614281e-03 -5.01140716e-05 9.99980241e-01 4.65627180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.411858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.53, Y:26.05, Z:0.46 [[ 8.33495919e-01 -5.52500961e-01 -5.21929204e-03 7.95288411e+01] [ 5.52489854e-01 8.33512260e-01 -3.50352149e-03 2.60503981e+01] [ 6.28604290e-03 3.65649671e-05 9.99980242e-01 4.62382716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.55, Y:26.07, Z:0.46 [[ 8.33573420e-01 -5.52383678e-01 -5.25602324e-03 7.95524851e+01] [ 5.52372911e-01 8.33589990e-01 -3.44891041e-03 2.60699833e+01] [ 6.28649018e-03 -2.83648151e-05 9.99980239e-01 4.64385516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.57, Y:26.09, Z:0.46 [[ 8.32029003e-01 -5.54707073e-01 -5.27274645e-03 7.95676550e+01] [ 5.54696510e-01 8.32045706e-01 -3.42409931e-03 2.60865770e+01] [ 6.28653815e-03 -7.58241270e-05 9.99980237e-01 4.64129106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:26.10, Z:0.46 [[ 8.32313331e-01 -5.54280956e-01 -5.20964533e-03 7.95903507e+01] [ 5.54269796e-01 8.32329634e-01 -3.51755478e-03 2.61020039e+01] [ 6.28585582e-03 4.01586784e-05 9.99980243e-01 4.63535181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.61, Y:26.12, Z:0.46 [[ 8.32426598e-01 -5.54110840e-01 -5.20922004e-03 7.96141893e+01] [ 5.54099673e-01 8.32442896e-01 -3.51818448e-03 2.61174248e+01] [ 6.28584238e-03 4.22032136e-05 9.99980243e-01 4.63726420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:79.64, Y:26.13, Z:0.46 [[ 8.32389141e-01 -5.54167117e-01 -5.20821869e-03 7.96381552e+01] [ 5.54155941e-01 8.32405433e-01 -3.51966623e-03 2.61321640e+01] [ 6.28583282e-03 4.35666167e-05 9.99980243e-01 4.64527792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59185806400001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:79.66, Y:26.15, Z:0.46 [[ 8.32334088e-01 -5.54249809e-01 -5.20719581e-03 7.96609396e+01] [ 5.54238626e-01 8.32350375e-01 -3.52117889e-03 2.61467216e+01] [ 6.28582411e-03 4.47681697e-05 9.99980243e-01 4.64751746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.621858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.68, Y:26.16, Z:0.47 [[ 8.32180539e-01 -5.54480334e-01 -5.20675380e-03 7.96844325e+01] [ 5.54469151e-01 8.32196826e-01 -3.52183237e-03 2.61619096e+01] [ 6.28583077e-03 4.38159991e-05 9.99980243e-01 4.65006067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.651858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:79.71, Y:26.18, Z:0.47 [[ 8.32247030e-01 -5.54380538e-01 -5.20575116e-03 7.97080630e+01] [ 5.54369344e-01 8.32263310e-01 -3.52331379e-03 2.61769678e+01] [ 6.28581228e-03 4.63585830e-05 9.99980243e-01 4.65290285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.73, Y:26.19, Z:0.47 [[ 8.32315898e-01 -5.54277148e-01 -5.20475352e-03 7.97314594e+01] [ 5.54265943e-01 8.32332170e-01 -3.52478691e-03 2.61919640e+01] [ 6.28579263e-03 4.89185689e-05 9.99980243e-01 4.65514199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.75, Y:26.21, Z:0.47 [[ 8.32201199e-01 -5.54449353e-01 -5.20376083e-03 7.97547604e+01] [ 5.54438142e-01 8.32217467e-01 -3.52625184e-03 2.62066648e+01] [ 6.28578871e-03 4.93875226e-05 9.99980243e-01 4.65314596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.78, Y:26.22, Z:0.47 [[ 8.31876822e-01 -5.54935923e-01 -5.20333017e-03 7.97780381e+01] [ 5.54924718e-01 8.31893093e-01 -3.52688722e-03 2.62215228e+01] [ 6.28581084e-03 4.64792029e-05 9.99980243e-01 4.65670948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.771858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:79.80, Y:26.24, Z:0.47 [[ 8.30953990e-01 -5.56316818e-01 -5.20234425e-03 7.98018155e+01] [ 5.56305630e-01 8.30970274e-01 -3.52834090e-03 2.62352377e+01] [ 6.28586881e-03 3.77955536e-05 9.99980243e-01 4.65227363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.83, Y:26.25, Z:0.47 [[ 8.30409093e-01 -5.57129857e-01 -5.20191714e-03 7.98251955e+01] [ 5.57118682e-01 8.30425386e-01 -3.52897049e-03 2.62507110e+01] [ 6.28589887e-03 3.24039665e-05 9.99980243e-01 4.66732126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.85, Y:26.27, Z:0.47 [[ 8.29760587e-01 -5.58095260e-01 -5.20094953e-03 7.98491078e+01] [ 5.58084094e-01 8.29776886e-01 -3.53039595e-03 2.62659149e+01] [ 6.28592495e-03 2.68162061e-05 9.99980243e-01 4.67363253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.861858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:79.87, Y:26.28, Z:0.47 [[ 8.28408441e-01 -5.60100362e-01 -5.19997153e-03 7.98725508e+01] [ 5.60089227e-01 8.28424761e-01 -3.53183587e-03 2.62795052e+01] [ 6.28596772e-03 1.33546155e-05 9.99980243e-01 4.67480712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.891858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.90, Y:26.29, Z:0.47 [[ 8.27655799e-01 -5.61211942e-01 -5.19954736e-03 7.98967636e+01] [ 5.61200824e-01 8.27672131e-01 -3.53246023e-03 2.62945424e+01] [ 6.28597931e-03 5.67092698e-06 9.99980243e-01 4.67555786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:79.92, Y:26.31, Z:0.47 [[ 8.26923683e-01 -5.62290136e-01 -5.19860187e-03 7.99207920e+01] [ 5.62279031e-01 8.26940024e-01 -3.53385113e-03 2.63095887e+01] [ 6.28598158e-03 -8.39633239e-07 9.99980243e-01 4.67939304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.951858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.94, Y:26.32, Z:0.47 [[ 8.26328400e-01 -5.63164594e-01 -5.19763500e-03 7.99435217e+01] [ 5.63153498e-01 8.26344746e-01 -3.53527264e-03 2.63240528e+01] [ 6.28597876e-03 -5.77013944e-06 9.99980243e-01 4.67859629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.981858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:79.97, Y:26.34, Z:0.47 [[ 8.24729294e-01 -5.65503829e-01 -5.19721570e-03 7.99685135e+01] [ 5.65492775e-01 8.24745669e-01 -3.53588895e-03 2.63400992e+01] [ 6.28593988e-03 -2.28367280e-05 9.99980243e-01 4.66402178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.011858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.99, Y:26.35, Z:0.46 [[ 8.24727259e-01 -5.65506715e-01 -5.20621911e-03 7.99904248e+01] [ 5.65495744e-01 8.24743690e-01 -3.52265715e-03 2.63546024e+01] [ 6.28588263e-03 -3.88633743e-05 9.99980243e-01 4.64953876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.041858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.02, Y:26.37, Z:0.46 [[ 8.25341573e-01 -5.64609876e-01 -5.19386039e-03 8.00205580e+01] [ 5.64598773e-01 8.25357915e-01 -3.54081075e-03 2.63687651e+01] [ 6.28597050e-03 -1.00688922e-05 9.99980243e-01 4.63075690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.05, Y:26.39, Z:0.46 [[ 8.24277880e-01 -5.66161231e-01 -5.23809862e-03 8.00459247e+01] [ 5.66150569e-01 8.24294517e-01 -3.47603853e-03 2.63862495e+01] [ 6.28573422e-03 -1.00330841e-04 9.99980240e-01 4.64675891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.06, Y:26.40, Z:0.47 [[ 8.21302829e-01 -5.70468301e-01 -5.25173831e-03 8.00611477e+01] [ 5.70457854e-01 8.21319604e-01 -3.45607795e-03 2.64018405e+01] [ 6.28493855e-03 -1.57408765e-04 9.99980237e-01 4.66597663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.131858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:80.09, Y:26.42, Z:0.47 [[ 8.20341046e-01 -5.71851083e-01 -5.18726992e-03 8.00854459e+01] [ 5.71840064e-01 8.20357444e-01 -3.55027219e-03 2.64177255e+01] [ 6.28564249e-03 -5.38547638e-05 9.99980244e-01 4.66112949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.161858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:80.11, Y:26.43, Z:0.47 [[ 8.20084321e-01 -5.72219091e-01 -5.19784848e-03 8.01078597e+01] [ 5.72208178e-01 8.20100790e-01 -3.53481684e-03 2.64325269e+01] [ 6.28544932e-03 -7.54035414e-05 9.99980244e-01 4.66517230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.191858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:80.13, Y:26.45, Z:0.47 [[ 8.19895132e-01 -5.72490211e-01 -5.18949085e-03 8.01309479e+01] [ 5.72479226e-01 8.19911553e-01 -3.54702268e-03 2.64485840e+01] [ 6.28555926e-03 -6.26890746e-05 9.99980244e-01 4.66409356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.221858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:80.15, Y:26.46, Z:0.47 [[ 8.19746259e-01 -5.72703395e-01 -5.18587699e-03 8.01544753e+01] [ 5.72692381e-01 8.19762660e-01 -3.55229844e-03 2.64648218e+01] [ 6.28560169e-03 -5.79288862e-05 9.99980244e-01 4.66586472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.18, Y:26.48, Z:0.47 [[ 8.19590246e-01 -5.72926649e-01 -5.18495303e-03 8.01777072e+01] [ 5.72915631e-01 8.19606644e-01 -3.55364653e-03 2.64806505e+01] [ 6.28560076e-03 -5.80066016e-05 9.99980244e-01 4.66326687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:26.50, Z:0.47 [[ 8.19317604e-01 -5.73316483e-01 -5.18403174e-03 8.02011109e+01] [ 5.73305465e-01 8.19334002e-01 -3.55499000e-03 2.64970653e+01] [ 6.28558784e-03 -5.93678378e-05 9.99980244e-01 4.67352698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.311858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:80.22, Y:26.51, Z:0.47 [[ 8.19390927e-01 -5.73211693e-01 -5.18312845e-03 8.02237620e+01] [ 5.73200663e-01 8.19407318e-01 -3.55630650e-03 2.65129068e+01] [ 6.28560985e-03 -5.69673813e-05 9.99980244e-01 4.67787865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.25, Y:26.53, Z:0.47 [[ 8.19450298e-01 -5.73126872e-01 -5.17669331e-03 8.02460373e+01] [ 5.73115782e-01 8.19466647e-01 -3.56567924e-03 2.65284018e+01] [ 6.28571410e-03 -4.49477149e-05 9.99980244e-01 4.68848264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.27, Y:26.54, Z:0.47 [[ 8.19282904e-01 -5.73366183e-01 -5.17141786e-03 8.02693041e+01] [ 5.73355049e-01 8.19299224e-01 -3.57335916e-03 2.65446954e+01] [ 6.28578194e-03 -3.74664752e-05 9.99980244e-01 4.67460993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.29, Y:26.56, Z:0.47 [[ 8.18915695e-01 -5.73890545e-01 -5.16982746e-03 8.02927376e+01] [ 5.73879407e-01 8.18932012e-01 -3.57567395e-03 2.65610462e+01] [ 6.28578268e-03 -3.86820066e-05 9.99980244e-01 4.69098136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.32, Y:26.58, Z:0.47 [[ 8.18631566e-01 -5.74295726e-01 -5.17473517e-03 8.03151659e+01] [ 5.74284641e-01 8.18647920e-01 -3.56853392e-03 2.65767580e+01] [ 6.28567996e-03 -5.04564192e-05 9.99980244e-01 4.67788404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.461858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.34, Y:26.59, Z:0.47 [[ 8.17981740e-01 -5.75220942e-01 -5.17116566e-03 8.03389911e+01] [ 5.75209842e-01 8.17998084e-01 -3.57372455e-03 2.65932631e+01] [ 6.28568480e-03 -5.12639626e-05 9.99980244e-01 4.69839141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.491858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.36, Y:26.61, Z:0.47 [[ 8.17482248e-01 -5.75930510e-01 -5.17903182e-03 8.03619773e+01] [ 5.75919497e-01 8.17498650e-01 -3.56228834e-03 2.66089888e+01] [ 6.28548206e-03 -7.05979234e-05 9.99980244e-01 4.70583828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.521858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.38, Y:26.63, Z:0.47 [[ 8.16906045e-01 -5.76747519e-01 -5.17804165e-03 8.03846579e+01] [ 5.76736514e-01 8.16922452e-01 -3.56372704e-03 2.66250149e+01] [ 6.28542921e-03 -7.51355251e-05 9.99980244e-01 4.70952800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.41, Y:26.64, Z:0.47 [[ 8.16688364e-01 -5.77055729e-01 -5.17703418e-03 8.04068956e+01] [ 5.77044720e-01 8.16704769e-01 -3.56518998e-03 2.66411238e+01] [ 6.28542181e-03 -7.57310684e-05 9.99980244e-01 4.70672624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.43, Y:26.66, Z:0.47 [[ 8.16098695e-01 -5.77889369e-01 -5.17659796e-03 8.04296690e+01] [ 5.77878373e-01 8.16115109e-01 -3.56582326e-03 2.66577664e+01] [ 6.28535116e-03 -8.13802971e-05 9.99980244e-01 4.70679729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.611858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:80.45, Y:26.67, Z:0.47 [[ 8.15529570e-01 -5.78692261e-01 -5.17557978e-03 8.04529132e+01] [ 5.78681273e-01 8.15545988e-01 -3.56730047e-03 2.66742555e+01] [ 6.28529251e-03 -8.57720708e-05 9.99980244e-01 4.71060854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.48, Y:26.69, Z:0.47 [[ 8.14667751e-01 -5.79904888e-01 -5.17455840e-03 8.04755184e+01] [ 5.79893915e-01 8.14684179e-01 -3.56878143e-03 2.66902290e+01] [ 6.28518466e-03 -9.33237797e-05 9.99980244e-01 4.71091707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.50, Y:26.71, Z:0.47 [[ 8.14027986e-01 -5.80802606e-01 -5.17409933e-03 8.04981910e+01] [ 5.80791646e-01 8.14044424e-01 -3.56944688e-03 2.67062873e+01] [ 6.28509075e-03 -9.94440062e-05 9.99980244e-01 4.71127213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.52, Y:26.72, Z:0.47 [[ 8.12927937e-01 -5.82341316e-01 -5.17309677e-03 8.05217180e+01] [ 5.82330378e-01 8.12944389e-01 -3.57089927e-03 2.67231604e+01] [ 6.28492217e-03 -1.09567617e-04 9.99980244e-01 4.68688280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.731858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.54, Y:26.74, Z:0.47 [[ 8.13004377e-01 -5.82234579e-01 -5.17478498e-03 8.05436990e+01] [ 5.82223654e-01 8.13020838e-01 -3.56845419e-03 2.67388681e+01] [ 6.28488544e-03 -1.11713346e-04 9.99980244e-01 4.71062236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.58, Y:26.75, Z:0.47 [[ 8.15220447e-01 -5.79127682e-01 -5.17206465e-03 8.05758559e+01] [ 5.79116670e-01 8.15236850e-01 -3.57239266e-03 2.67543132e+01] [ 6.28532917e-03 -8.29413145e-05 9.99980244e-01 4.66721413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.59, Y:26.77, Z:0.47 [[ 8.13073490e-01 -5.82137515e-01 -5.23577498e-03 8.05903459e+01] [ 5.82127153e-01 8.13090319e-01 -3.48011125e-03 2.67722777e+01] [ 6.28306127e-03 -2.18300582e-04 9.99980238e-01 4.69114319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.61, Y:26.79, Z:0.47 [[ 8.13790211e-01 -5.81135754e-01 -5.16986543e-03 8.06112401e+01] [ 5.81124762e-01 8.13806627e-01 -3.57541319e-03 2.67875316e+01] [ 6.28507119e-03 -9.47005616e-05 9.99980244e-01 4.67425621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:26.81, Z:0.47 [[ 8.14527055e-01 -5.80102636e-01 -5.15838182e-03 8.06363734e+01] [ 5.80091519e-01 8.14543386e-01 -3.59201751e-03 2.68053244e+01] [ 6.28546462e-03 -6.65381044e-05 9.99980244e-01 4.68942432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.881858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:80.66, Y:26.82, Z:0.47 [[ 8.15144097e-01 -5.79235012e-01 -5.18676572e-03 8.06559299e+01] [ 5.79224138e-01 8.15160591e-01 -3.55096959e-03 2.68204299e+01] [ 6.28489293e-03 -1.09748001e-04 9.99980244e-01 4.67056175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:26.84, Z:0.47 [[ 8.14994223e-01 -5.79446138e-01 -5.15659534e-03 8.06799849e+01] [ 5.79434991e-01 8.15010534e-01 -3.59453169e-03 2.68384809e+01] [ 6.28551702e-03 -5.83892217e-05 9.99980244e-01 4.69635345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.70, Y:26.85, Z:0.47 [[ 8.16821359e-01 -5.76867550e-01 -5.16699210e-03 8.07034494e+01] [ 5.76856447e-01 8.16837699e-01 -3.57952412e-03 2.68536252e+01] [ 6.28550525e-03 -5.67809421e-05 9.99980244e-01 4.70385510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.971858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:80.72, Y:26.87, Z:0.47 [[ 8.17339069e-01 -5.76133725e-01 -5.17464769e-03 8.07238085e+01] [ 5.76122677e-01 8.17355447e-01 -3.56847011e-03 2.68686844e+01] [ 6.28544245e-03 -6.45818443e-05 9.99980244e-01 4.69637107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:80.75, Y:26.89, Z:0.47 [[ 8.16872616e-01 -5.76795128e-01 -5.14880749e-03 8.07486508e+01] [ 5.76783858e-01 8.16888842e-01 -3.60577875e-03 2.68861146e+01] [ 6.28579900e-03 -2.42871304e-05 9.99980244e-01 4.72937540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:26.90, Z:0.48 [[ 8.18336515e-01 -5.74716148e-01 -5.16701280e-03 8.07717871e+01] [ 5.74705002e-01 8.18352826e-01 -3.57949936e-03 2.69021109e+01] [ 6.28563561e-03 -4.02730666e-05 9.99980244e-01 4.75099129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:26.92, Z:0.48 [[ 8.19001489e-01 -5.73768129e-01 -5.16670168e-03 8.07952345e+01] [ 5.73756961e-01 8.19017786e-01 -3.57994838e-03 2.69179683e+01] [ 6.28568085e-03 -3.24480026e-05 9.99980244e-01 4.75482463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.82, Y:26.93, Z:0.48 [[ 8.19375859e-01 -5.73233389e-01 -5.16571964e-03 8.08183739e+01] [ 5.73222202e-01 8.19392141e-01 -3.58136487e-03 2.69346480e+01] [ 6.28570800e-03 -2.66212724e-05 9.99980244e-01 4.75813576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.84, Y:26.95, Z:0.48 [[ 8.19792492e-01 -5.72637403e-01 -5.16474233e-03 8.08410078e+01] [ 5.72626195e-01 8.19808761e-01 -3.58277371e-03 2.69514366e+01] [ 6.28573124e-03 -2.03357606e-05 9.99980244e-01 4.75672720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.151858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.86, Y:26.97, Z:0.47 [[ 8.20225130e-01 -5.72017545e-01 -5.16376614e-03 8.08623399e+01] [ 5.72006316e-01 8.20241384e-01 -3.58418011e-03 2.69672717e+01] [ 6.28574859e-03 -1.38722511e-05 9.99980244e-01 4.74945243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.88, Y:26.98, Z:0.47 [[ 8.20636165e-01 -5.71427708e-01 -5.16334290e-03 8.08846098e+01] [ 5.71416463e-01 8.20652408e-01 -3.58478973e-03 2.69837959e+01] [ 6.28575796e-03 -8.61103994e-06 9.99980244e-01 4.74611175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.211858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.91, Y:27.00, Z:0.47 [[ 8.20334741e-01 -5.71860348e-01 -5.16289466e-03 8.09067272e+01] [ 5.71849108e-01 8.20350987e-01 -3.58543497e-03 2.69985661e+01] [ 6.28575382e-03 -1.11398382e-05 9.99980244e-01 4.74773703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.241858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:80.93, Y:27.01, Z:0.48 [[ 8.19832455e-01 -5.72580219e-01 -5.16134201e-03 8.09299924e+01] [ 5.72568979e-01 8.19848701e-01 -3.58766866e-03 2.70139611e+01] [ 6.28574765e-03 -1.39371238e-05 9.99980244e-01 4.75937928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.271858064 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:80.95, Y:27.03, Z:0.48 [[ 8.18921190e-01 -5.73882790e-01 -5.16035421e-03 8.09529488e+01] [ 5.73871567e-01 8.18937448e-01 -3.58908891e-03 2.70286724e+01] [ 6.28572366e-03 -2.21995947e-05 9.99980244e-01 4.76282034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.301858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.98, Y:27.04, Z:0.48 [[ 8.18339527e-01 -5.74711924e-01 -5.15968224e-03 8.09758712e+01] [ 5.74700712e-01 8.18355793e-01 -3.59005468e-03 2.70447797e+01] [ 6.28570308e-03 -2.73894061e-05 9.99980244e-01 4.76484684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.331858064 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:81.00, Y:27.06, Z:0.48 [[ 8.17777196e-01 -5.75511811e-01 -5.15870580e-03 8.09992919e+01] [ 5.75500606e-01 8.17793467e-01 -3.59145721e-03 2.70609292e+01] [ 6.28568195e-03 -3.18265028e-05 9.99980244e-01 4.76759346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.361858064 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:81.02, Y:27.08, Z:0.48 [[ 8.16230336e-01 -5.77703589e-01 -5.15768964e-03 8.10224791e+01] [ 5.77692419e-01 8.16246630e-01 -3.59291594e-03 2.70767713e+01] [ 6.28558722e-03 -4.69112191e-05 9.99980244e-01 4.76130811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.391858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:81.05, Y:27.09, Z:0.48 [[ 8.16036347e-01 -5.77977586e-01 -5.15666955e-03 8.10454624e+01] [ 5.77966411e-01 8.16052638e-01 -3.59437941e-03 2.70921439e+01] [ 6.28558452e-03 -4.72375472e-05 9.99980244e-01 4.77598725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421858064 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:81.07, Y:27.11, Z:0.48 [[ 8.15059331e-01 -5.79354553e-01 -5.15635375e-03 8.10688124e+01] [ 5.79343403e-01 8.15075640e-01 -3.59483238e-03 2.71072833e+01] [ 6.28550084e-03 -5.72978489e-05 9.99980244e-01 4.77922983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.451858064 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:81.09, Y:27.12, Z:0.48 [[ 8.14548919e-01 -5.80071962e-01 -5.15533424e-03 8.10906574e+01] [ 5.80060817e-01 8.14565230e-01 -3.59629386e-03 2.71225914e+01] [ 6.28546526e-03 -6.10501173e-05 9.99980244e-01 4.77791678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.481858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:81.11, Y:27.14, Z:0.48 [[ 8.14059217e-01 -5.80759002e-01 -5.15489166e-03 8.11138281e+01] [ 5.80747867e-01 8.14075535e-01 -3.59692813e-03 2.71384826e+01] [ 6.28541958e-03 -6.55798381e-05 9.99980244e-01 4.78550417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.511858064 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:81.14, Y:27.15, Z:0.48 [[ 8.13604583e-01 -5.81395752e-01 -5.15388837e-03 8.11360391e+01] [ 5.81384621e-01 8.13620904e-01 -3.59836515e-03 2.71537271e+01] [ 6.28538552e-03 -6.87450602e-05 9.99980244e-01 4.77404774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.541858064 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:81.16, Y:27.17, Z:0.48 [[ 8.13356802e-01 -5.81742378e-01 -5.14960762e-03 8.11596018e+01] [ 5.81731215e-01 8.13373101e-01 -3.60449415e-03 2.71702496e+01] [ 6.28543931e-03 -6.39476651e-05 9.99980244e-01 4.80102618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.571858064 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:81.18, Y:27.19, Z:0.48 [[ 8.13333996e-01 -5.81774235e-01 -5.15268675e-03 8.11824655e+01] [ 5.81763101e-01 8.13350315e-01 -3.60008708e-03 2.71864412e+01] [ 6.28537730e-03 -6.95698069e-05 9.99980244e-01 4.79687467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.601858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:81.21, Y:27.20, Z:0.48 [[ 8.13159999e-01 -5.82017437e-01 -5.14958877e-03 8.12063409e+01] [ 5.82006279e-01 8.13176302e-01 -3.60451918e-03 2.72031621e+01] [ 6.28541657e-03 -6.60421878e-05 9.99980244e-01 4.80536164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.631858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:81.23, Y:27.22, Z:0.48 [[ 8.13362809e-01 -5.81733962e-01 -5.15148482e-03 8.12282994e+01] [ 5.81722815e-01 8.13379120e-01 -3.60180734e-03 2.72183015e+01] [ 6.28540385e-03 -6.71601155e-05 9.99980244e-01 4.79989085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.661858064 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:81.25, Y:27.23, Z:0.48 [[ 8.13385147e-01 -5.81702733e-01 -5.15105111e-03 8.12510120e+01] [ 5.81691582e-01 8.13401454e-01 -3.60242750e-03 2.72348179e+01] [ 6.28541439e-03 -6.61620504e-05 9.99980244e-01 4.80367519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.691858064 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:81.27, Y:27.25, Z:0.48 [[ 8.13535890e-01 -5.81491902e-01 -5.15005711e-03 8.12734803e+01] [ 5.81480738e-01 8.13552189e-01 -3.60384797e-03 2.72513994e+01] [ 6.28544865e-03 -6.27993492e-05 9.99980244e-01 4.80285992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.721858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:81.30, Y:27.27, Z:0.48 [[ 8.13214686e-01 -5.81941029e-01 -5.14906746e-03 8.12956704e+01] [ 5.81929865e-01 8.13230985e-01 -3.60526140e-03 2.72683562e+01] [ 6.28543073e-03 -6.45446132e-05 9.99980244e-01 4.81114770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.751858064 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:81.32, Y:27.29, Z:0.48 [[ 8.12677538e-01 -5.82690927e-01 -5.14803200e-03 8.13212373e+01] [ 5.82679769e-01 8.12693840e-01 -3.60673934e-03 2.72856374e+01] [ 6.28538819e-03 -6.85380485e-05 9.99980244e-01 4.77579873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:81.34, Y:27.30, Z:0.48 [[ 8.12570115e-01 -5.82840578e-01 -5.16410418e-03 8.13415405e+01] [ 5.82829568e-01 8.12586519e-01 -3.58379534e-03 2.73006479e+01] [ 6.28506279e-03 -9.77076180e-05 9.99980244e-01 4.80077194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.811858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:81.37, Y:27.32, Z:0.48 [[ 8.12056725e-01 -5.83555937e-01 -5.13260118e-03 8.13650118e+01] [ 5.83544657e-01 8.12072943e-01 -3.62869353e-03 2.73173368e+01] [ 6.28559221e-03 -4.83970131e-05 9.99980244e-01 4.81365744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84185806400001 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:81.39, Y:27.33, Z:0.48 [[ 8.10569550e-01 -5.85619884e-01 -5.13370445e-03 8.13878359e+01] [ 5.85608656e-01 8.10585805e-01 -3.62712150e-03 2.73348708e+01] [ 6.28542242e-03 -6.63075185e-05 9.99980244e-01 4.81513450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.871858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:81.41, Y:27.35, Z:0.48 [[ 8.10062697e-01 -5.86320692e-01 -5.14517665e-03 8.14109529e+01] [ 5.86309581e-01 8.10079031e-01 -3.61077416e-03 2.73516554e+01] [ 6.28507133e-03 -9.17129120e-05 9.99980245e-01 4.83528061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.901858064 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:81.43, Y:27.37, Z:0.48 [[ 8.09611784e-01 -5.86943181e-01 -5.14414871e-03 8.14324977e+01] [ 5.86932073e-01 8.09628121e-01 -3.61223805e-03 2.73675065e+01] [ 6.28502594e-03 -9.47553711e-05 9.99980245e-01 4.83427788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.931858064 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:81.45, Y:27.38, Z:0.48 [[ 8.08910412e-01 -5.87909422e-01 -5.14370357e-03 8.14547583e+01] [ 5.87898330e-01 8.08926759e-01 -3.61287180e-03 2.73843156e+01] [ 6.28492083e-03 -1.01485125e-04 9.99980245e-01 4.84174359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.961858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:81.48, Y:27.40, Z:0.48 [[ 8.08290255e-01 -5.88761766e-01 -5.14268273e-03 8.14758272e+01] [ 5.88750682e-01 8.08306607e-01 -3.61432431e-03 2.74009596e+01] [ 6.28484040e-03 -1.06334842e-04 9.99980245e-01 4.83862115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.991858064 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:81.50, Y:27.42, Z:0.48 [[ 8.07854420e-01 -5.89359649e-01 -5.14199132e-03 8.14986276e+01] [ 5.89348570e-01 8.07870777e-01 -3.61530769e-03 2.74180241e+01] [ 6.28478100e-03 -1.09782942e-04 9.99980245e-01 4.83579867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.021858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.52, Y:27.44, Z:0.48 [[ 8.07327574e-01 -5.90081146e-01 -5.14098933e-03 8.15214345e+01] [ 5.90070073e-01 8.07343934e-01 -3.61673197e-03 2.74351107e+01] [ 6.28471190e-03 -1.13656504e-04 9.99980245e-01 4.83466592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.051858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.54, Y:27.45, Z:0.48 [[ 8.06621437e-01 -5.91046054e-01 -5.13998875e-03 8.15431460e+01] [ 5.91034991e-01 8.06637805e-01 -3.61815340e-03 2.74521201e+01] [ 6.28460453e-03 -1.19433108e-04 9.99980245e-01 4.84190030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.081858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:81.57, Y:27.47, Z:0.49 [[ 8.06227256e-01 -5.91583634e-01 -5.13967917e-03 8.15659138e+01] [ 5.91572580e-01 8.06243629e-01 -3.61859311e-03 2.74687470e+01] [ 6.28453405e-03 -1.23084876e-04 9.99980245e-01 4.85285452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.59, Y:27.49, Z:0.49 [[ 8.05926820e-01 -5.91992867e-01 -5.13869960e-03 8.15886677e+01] [ 5.91981812e-01 8.05943193e-01 -3.61998365e-03 2.74855793e+01] [ 6.28450446e-03 -1.24574792e-04 9.99980245e-01 4.85982324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.61, Y:27.50, Z:0.49 [[ 8.05767628e-01 -5.92209534e-01 -5.13772697e-03 8.16119855e+01] [ 5.92198475e-01 8.05783998e-01 -3.62136355e-03 2.75021165e+01] [ 6.28450420e-03 -1.24576557e-04 9.99980245e-01 4.86161361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.63, Y:27.52, Z:0.49 [[ 8.05839118e-01 -5.92112261e-01 -5.13675294e-03 8.16342911e+01] [ 5.92101191e-01 8.05855481e-01 -3.62274464e-03 2.75188933e+01] [ 6.28455203e-03 -1.22128189e-04 9.99980245e-01 4.85610803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:81.66, Y:27.54, Z:0.49 [[ 8.05923248e-01 -5.91997827e-01 -5.12754194e-03 8.16561960e+01] [ 5.91986671e-01 8.05939552e-01 -3.63579955e-03 2.75368147e+01] [ 6.28487429e-03 -1.05261105e-04 9.99980244e-01 4.85023110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.231858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:81.68, Y:27.55, Z:0.48 [[ 8.06994428e-01 -5.90536719e-01 -5.13583254e-03 8.16772507e+01] [ 5.90525608e-01 8.07010763e-01 -3.62405050e-03 2.75530900e+01] [ 6.28480703e-03 -1.08252071e-04 9.99980245e-01 4.84411095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.70, Y:27.57, Z:0.48 [[ 8.07596334e-01 -5.89713415e-01 -5.12343418e-03 8.17037346e+01] [ 5.89702177e-01 8.07612581e-01 -3.64161201e-03 2.75717692e+01] [ 6.28525736e-03 -8.03477800e-05 9.99980244e-01 4.82100452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.291858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:81.72, Y:27.59, Z:0.49 [[ 8.09217784e-01 -5.87486197e-01 -5.15225711e-03 8.17232369e+01] [ 5.87475173e-01 8.09234178e-01 -3.60082743e-03 2.75898386e+01] [ 6.28481896e-03 -1.12969546e-04 9.99980244e-01 4.85545991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:27.61, Z:0.48 [[ 8.12165833e-01 -5.83404159e-01 -5.12314526e-03 8.17534903e+01] [ 5.83392792e-01 8.12181991e-01 -3.64197665e-03 2.76056473e+01] [ 6.28567065e-03 -3.09170184e-05 9.99980244e-01 4.83912521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.77, Y:27.62, Z:0.49 [[ 8.11158814e-01 -5.84802918e-01 -5.18904742e-03 8.17688178e+01] [ 5.84792171e-01 8.11175396e-01 -3.54873042e-03 2.76237765e+01] [ 6.28453550e-03 -1.55930350e-04 9.99980240e-01 4.86418014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.79, Y:27.64, Z:0.49 [[ 8.11561431e-01 -5.84244656e-01 -5.12121870e-03 8.17918764e+01] [ 5.84233289e-01 8.11577588e-01 -3.64452504e-03 2.76409302e+01] [ 6.28556060e-03 -3.42304882e-05 9.99980245e-01 4.87511448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.411858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:81.81, Y:27.66, Z:0.49 [[ 8.12954485e-01 -5.82304640e-01 -5.12952045e-03 8.18134920e+01] [ 5.82293309e-01 8.12970667e-01 -3.63280296e-03 2.76578550e+01] [ 6.28554768e-03 -3.35819818e-05 9.99980245e-01 4.86502660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.83, Y:27.67, Z:0.48 [[ 8.12770757e-01 -5.82561060e-01 -5.12907836e-03 8.18324032e+01] [ 5.82549730e-01 8.12786940e-01 -3.63342703e-03 2.76739411e+01] [ 6.28554101e-03 -3.47999811e-05 9.99980245e-01 4.81896580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.471858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:81.86, Y:27.69, Z:0.49 [[ 8.13524132e-01 -5.81508797e-01 -5.09956641e-03 8.18572294e+01] [ 5.81497185e-01 8.13540115e-01 -3.67500329e-03 2.76909772e+01] [ 6.28574859e-03 2.43203514e-05 9.99980244e-01 4.86114634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:81.88, Y:27.71, Z:0.49 [[ 8.13188620e-01 -5.81977786e-01 -5.11126340e-03 8.18796727e+01] [ 5.81966287e-01 8.13204683e-01 -3.65853068e-03 2.77074114e+01] [ 6.28568692e-03 4.92526659e-07 9.99980245e-01 4.86518241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.90, Y:27.72, Z:0.49 [[ 8.12995147e-01 -5.82248016e-01 -5.11268055e-03 8.19028811e+01] [ 5.82236534e-01 8.13011222e-01 -3.65653538e-03 2.77238254e+01] [ 6.28567713e-03 -4.04388315e-06 9.99980245e-01 4.87347144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.93, Y:27.74, Z:0.49 [[ 8.12788943e-01 -5.82535815e-01 -5.11453106e-03 8.19253296e+01] [ 5.82524356e-01 8.12805034e-01 -3.65392969e-03 2.77397210e+01] [ 6.28566151e-03 -9.46526276e-06 9.99980245e-01 4.87076255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.95, Y:27.76, Z:0.49 [[ 8.11461527e-01 -5.84383531e-01 -5.10673173e-03 8.19485810e+01] [ 5.84372039e-01 8.11477596e-01 -3.66490383e-03 2.77561827e+01] [ 6.28570782e-03 -1.03027733e-05 9.99980245e-01 4.86806732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.621858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.97, Y:27.77, Z:0.49 [[ 8.10152739e-01 -5.86196558e-01 -5.11232238e-03 8.19737082e+01] [ 5.86185151e-01 8.10168868e-01 -3.65703574e-03 2.77739507e+01] [ 6.28558620e-03 -3.40099518e-05 9.99980245e-01 4.85784791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.00, Y:27.79, Z:0.49 [[ 8.11599267e-01 -5.84191920e-01 -5.14111341e-03 8.19972435e+01] [ 5.84180729e-01 8.11615547e-01 -3.61651953e-03 2.77874882e+01] [ 6.28534906e-03 -6.81747868e-05 9.99980245e-01 4.87177364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:27.81, Z:0.49 [[ 8.09713573e-01 -5.86802824e-01 -5.13570028e-03 8.20169670e+01] [ 5.86791638e-01 8.09729856e-01 -3.62413562e-03 2.78054503e+01] [ 6.28518286e-03 -7.90741777e-05 9.99980245e-01 4.88441591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.04, Y:27.82, Z:0.49 [[ 8.09450335e-01 -5.87166067e-01 -5.11507039e-03 8.20418448e+01] [ 5.87154705e-01 8.09466495e-01 -3.65314511e-03 2.78215235e+01] [ 6.28548095e-03 -4.62981126e-05 9.99980245e-01 4.85631157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.06, Y:27.84, Z:0.49 [[ 8.07616402e-01 -5.89685897e-01 -5.12749183e-03 8.20638025e+01] [ 5.89674695e-01 8.07632674e-01 -3.63568360e-03 2.78382318e+01] [ 6.28504128e-03 -8.73144698e-05 9.99980245e-01 4.86074929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.771858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:82.09, Y:27.86, Z:0.49 [[ 8.06065662e-01 -5.91803966e-01 -5.11993377e-03 8.20887884e+01] [ 5.91792740e-01 8.06081917e-01 -3.64630240e-03 2.78563629e+01] [ 6.28498225e-03 -9.07804785e-05 9.99980245e-01 4.85393965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.11, Y:27.87, Z:0.48 [[ 8.05404289e-01 -5.92703555e-01 -5.14064015e-03 8.21116840e+01] [ 5.92692532e-01 8.05420684e-01 -3.61721452e-03 2.78731182e+01] [ 6.28431381e-03 -1.33498935e-04 9.99980245e-01 4.84926972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.13, Y:27.89, Z:0.48 [[ 8.04834572e-01 -5.93476966e-01 -5.13832148e-03 8.21325178e+01] [ 5.93465938e-01 8.04850963e-01 -3.62046961e-03 2.78890078e+01] [ 6.28424832e-03 -1.35539668e-04 9.99980245e-01 4.82708349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.15, Y:27.91, Z:0.49 [[ 8.03885433e-01 -5.94762078e-01 -5.12657057e-03 8.21545790e+01] [ 5.94750971e-01 8.03901770e-01 -3.63695976e-03 2.79063748e+01] [ 6.28438490e-03 -1.25333856e-04 9.99980245e-01 4.85770245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.891858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.18, Y:27.92, Z:0.48 [[ 8.03695588e-01 -5.95018662e-01 -5.11793165e-03 8.21808790e+01] [ 5.95007483e-01 8.03711876e-01 -3.64907610e-03 2.79237476e+01] [ 6.28461082e-03 -1.12461266e-04 9.99980245e-01 4.83968119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.20, Y:27.94, Z:0.48 [[ 8.02191337e-01 -5.97044878e-01 -5.14507028e-03 8.21994794e+01] [ 5.97033984e-01 8.02207818e-01 -3.61100971e-03 2.79402595e+01] [ 6.28335046e-03 -1.75061097e-04 9.99980244e-01 4.81883044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.22, Y:27.96, Z:0.48 [[ 8.01075328e-01 -5.98541698e-01 -5.11408709e-03 8.22214842e+01] [ 5.98530557e-01 8.01091641e-01 -3.65442443e-03 2.79571334e+01] [ 6.28417782e-03 -1.33468146e-04 9.99980245e-01 4.83954611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.981858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.25, Y:27.97, Z:0.48 [[ 8.00934576e-01 -5.98730064e-01 -5.11024931e-03 8.22465118e+01] [ 5.98718892e-01 8.00950869e-01 -3.65979979e-03 2.79734222e+01] [ 6.28429079e-03 -1.28342618e-04 9.99980245e-01 4.82784303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.011858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.27, Y:27.99, Z:0.48 [[ 7.99174110e-01 -6.01077729e-01 -5.12894921e-03 8.22660902e+01] [ 6.01066773e-01 7.99190548e-01 -3.63363059e-03 2.79899499e+01] [ 6.28310215e-03 -1.78937456e-04 9.99980245e-01 4.83850615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:28.01, Z:0.48 [[ 7.98781407e-01 -6.01599649e-01 -5.11144251e-03 8.22895267e+01] [ 6.01588547e-01 7.98797746e-01 -3.65811391e-03 2.80070441e+01] [ 6.28372880e-03 -1.52951897e-04 9.99980245e-01 4.84802849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.31, Y:28.02, Z:0.49 [[ 7.98529732e-01 -6.01933658e-01 -5.11256658e-03 8.23121333e+01] [ 6.01922572e-01 7.98546083e-01 -3.65654225e-03 2.80237471e+01] [ 6.28361586e-03 -1.57511527e-04 9.99980245e-01 4.85543722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.101858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:82.34, Y:28.04, Z:0.49 [[ 8.01047091e-01 -5.98579510e-01 -5.11153794e-03 8.23428017e+01] [ 5.98568347e-01 8.01063389e-01 -3.65797963e-03 2.80396702e+01] [ 6.28425756e-03 -1.29390866e-04 9.99980245e-01 4.88157147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:28.06, Z:0.49 [[ 8.00418371e-01 -5.99419468e-01 -5.17035374e-03 8.23616616e+01] [ 5.99408850e-01 8.00435035e-01 -3.57575077e-03 2.80579615e+01] [ 6.28190690e-03 -2.37059185e-04 9.99980241e-01 4.89299893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.161858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:82.39, Y:28.07, Z:0.49 [[ 8.02469765e-01 -5.96670624e-01 -5.14218784e-03 8.23858801e+01] [ 5.96659696e-01 8.02486223e-01 -3.61509954e-03 2.80736728e+01] [ 6.28355860e-03 -1.67128157e-04 9.99980244e-01 4.89929965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.40, Y:28.09, Z:0.49 [[ 8.01725896e-01 -5.97669484e-01 -5.17457832e-03 8.24026194e+01] [ 5.97658868e-01 8.01742562e-01 -3.56973852e-03 2.80920679e+01] [ 6.28220345e-03 -2.30680807e-04 9.99980240e-01 4.88519169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.221858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:82.42, Y:28.11, Z:0.49 [[ 8.03896443e-01 -5.94747188e-01 -5.12751677e-03 8.24234300e+01] [ 5.94736089e-01 8.03912786e-01 -3.63553331e-03 2.81107792e+01] [ 6.28429950e-03 -1.26926974e-04 9.99980246e-01 4.87918863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.251858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:82.44, Y:28.13, Z:0.49 [[ 8.04946083e-01 -5.93325898e-01 -5.11689366e-03 8.24444973e+01] [ 5.93314676e-01 8.04962340e-01 -3.65037808e-03 2.81271248e+01] [ 6.28477055e-03 -9.75705715e-05 9.99980246e-01 4.87088820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:82.47, Y:28.14, Z:0.49 [[ 8.05470753e-01 -5.92613487e-01 -5.11084495e-03 8.24676144e+01] [ 5.92602198e-01 8.05486963e-01 -3.65882724e-03 2.81446947e+01] [ 6.28498935e-03 -8.16196131e-05 9.99980246e-01 4.88453842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.311858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:82.49, Y:28.16, Z:0.49 [[ 8.07048307e-01 -5.90463279e-01 -5.11338285e-03 8.24897998e+01] [ 5.90451969e-01 8.07064503e-01 -3.65528315e-03 2.81616431e+01] [ 6.28514026e-03 -6.92168918e-05 9.99980246e-01 4.86756948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34185806400001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:82.51, Y:28.18, Z:0.49 [[ 8.07711489e-01 -5.89555756e-01 -5.11483368e-03 8.25118968e+01] [ 5.89544441e-01 8.07727681e-01 -3.65325779e-03 2.81772887e+01] [ 6.28519191e-03 -6.46434748e-05 9.99980246e-01 4.86447257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.371858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.53, Y:28.19, Z:0.49 [[ 8.08321582e-01 -5.88719011e-01 -5.11337456e-03 8.25348432e+01] [ 5.88707666e-01 8.08337753e-01 -3.65529392e-03 2.81938499e+01] [ 6.28527472e-03 -5.56298378e-05 9.99980246e-01 4.86181833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.401858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:82.56, Y:28.21, Z:0.48 [[ 8.09656075e-01 -5.86882394e-01 -5.10843262e-03 8.25564500e+01] [ 5.86870969e-01 8.09672189e-01 -3.66218749e-03 2.82093383e+01] [ 6.28542919e-03 -3.28784566e-05 9.99980246e-01 4.84899069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.58, Y:28.23, Z:0.48 [[ 8.10304745e-01 -5.85986457e-01 -5.10799855e-03 8.25788003e+01] [ 5.85975010e-01 8.10320845e-01 -3.66279283e-03 2.82250355e+01] [ 6.28546470e-03 -2.51810951e-05 9.99980246e-01 4.84335511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.461858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:82.60, Y:28.24, Z:0.48 [[ 8.10739074e-01 -5.85385400e-01 -5.10756714e-03 8.26019419e+01] [ 5.85373938e-01 8.10755162e-01 -3.66339431e-03 2.82415163e+01] [ 6.28548397e-03 -1.97797783e-05 9.99980246e-01 4.83735699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.491858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.62, Y:28.26, Z:0.48 [[ 8.11464659e-01 -5.84379184e-01 -5.10654506e-03 8.26233604e+01] [ 5.84367693e-01 8.11480726e-01 -3.66481847e-03 2.82570078e+01] [ 6.28550652e-03 -1.02292871e-05 9.99980246e-01 4.83878382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.521858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.65, Y:28.27, Z:0.48 [[ 8.11369186e-01 -5.84511857e-01 -5.09242185e-03 8.26484658e+01] [ 5.84500245e-01 8.11385167e-01 -3.68448159e-03 2.82733032e+01] [ 6.28553873e-03 1.29530112e-05 9.99980246e-01 4.84018523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.551858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.67, Y:28.29, Z:0.49 [[ 8.11276401e-01 -5.84640522e-01 -5.10511347e-03 8.26718628e+01] [ 5.84629023e-01 8.11292463e-01 -3.66681170e-03 2.82882972e+01] [ 6.28550679e-03 -9.79970325e-06 9.99980246e-01 4.85154726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:28.30, Z:0.49 [[ 8.11178892e-01 -5.84775815e-01 -5.10409696e-03 8.26950158e+01] [ 5.84764309e-01 8.11194950e-01 -3.66822610e-03 2.83031812e+01] [ 6.28550759e-03 -9.10614946e-06 9.99980246e-01 4.85967970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.72, Y:28.32, Z:0.49 [[ 8.11031846e-01 -5.84979740e-01 -5.10365602e-03 8.27185157e+01] [ 5.84968235e-01 8.11047904e-01 -3.66883950e-03 2.83187435e+01] [ 6.28550629e-03 -9.93098168e-06 9.99980246e-01 4.86331360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:82.74, Y:28.33, Z:0.49 [[ 8.11223639e-01 -5.84713751e-01 -5.10265092e-03 8.27409933e+01] [ 5.84702232e-01 8.11239687e-01 -3.67023686e-03 2.83335382e+01] [ 6.28551090e-03 -6.14848248e-06 9.99980246e-01 4.85731074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.671858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:82.76, Y:28.35, Z:0.49 [[ 8.11362510e-01 -5.84521039e-01 -5.10221562e-03 8.27640272e+01] [ 5.84509513e-01 8.11378552e-01 -3.67084190e-03 2.83493675e+01] [ 6.28551264e-03 -3.91006816e-06 9.99980246e-01 4.85737176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:82.79, Y:28.37, Z:0.49 [[ 8.11393681e-01 -5.84477777e-01 -5.10121094e-03 8.27867671e+01] [ 5.84466240e-01 8.11409717e-01 -3.67223753e-03 2.83655557e+01] [ 6.28551335e-03 -1.85524821e-06 9.99980246e-01 4.85648818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.731858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:82.81, Y:28.38, Z:0.49 [[ 8.11881165e-01 -5.83800447e-01 -5.10021063e-03 8.28107797e+01] [ 5.83788888e-01 8.11897185e-01 -3.67362630e-03 2.83807375e+01] [ 6.28551132e-03 5.10170514e-06 9.99980246e-01 4.85194204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:28.40, Z:0.48 [[ 8.11896876e-01 -5.83778607e-01 -5.09919223e-03 8.28340056e+01] [ 5.83767039e-01 8.11912888e-01 -3.67503934e-03 2.83963137e+01] [ 6.28550924e-03 7.01260924e-06 9.99980246e-01 4.84769508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.791858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.86, Y:28.41, Z:0.48 [[ 8.12032758e-01 -5.83589589e-01 -5.09817638e-03 8.28573025e+01] [ 5.83578009e-01 8.12048762e-01 -3.67644803e-03 2.84114423e+01] [ 6.28550461e-03 1.02126186e-05 9.99980246e-01 4.84362237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.87, Y:28.43, Z:0.48 [[ 8.08684933e-01 -5.88219940e-01 -5.09715450e-03 8.28710657e+01] [ 5.88208443e-01 8.08700996e-01 -3.67786426e-03 2.84293032e+01] [ 6.28546702e-03 -2.39558917e-05 9.99980246e-01 4.77972194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.90, Y:28.45, Z:0.48 [[ 8.09418487e-01 -5.87210763e-01 -5.02331582e-03 8.28966202e+01] [ 5.87198606e-01 8.09434067e-01 -3.78008719e-03 2.84454995e+01] [ 6.28575084e-03 1.09988405e-04 9.99980238e-01 4.78423860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.93, Y:28.46, Z:0.48 [[ 8.12004013e-01 -5.83630165e-01 -5.03130494e-03 8.29287982e+01] [ 5.83618008e-01 8.12019590e-01 -3.76902609e-03 2.84593298e+01] [ 6.28523549e-03 1.24104141e-04 9.99980240e-01 4.83175050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.95, Y:28.48, Z:0.48 [[ 8.11664383e-01 -5.84101834e-01 -5.09683781e-03 8.29520428e+01] [ 5.84090252e-01 8.11680385e-01 -3.67821850e-03 2.84752680e+01] [ 6.28545744e-03 8.46566339e-06 9.99980246e-01 4.82999281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.98, Y:28.49, Z:0.48 [[ 8.09917325e-01 -5.86521916e-01 -5.09584572e-03 8.29756781e+01] [ 5.86510374e-01 8.09933356e-01 -3.67959244e-03 2.84892653e+01] [ 6.28545703e-03 -8.60071294e-06 9.99980246e-01 4.82123236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.00, Y:28.50, Z:0.48 [[ 8.08494674e-01 -5.88481434e-01 -5.09541619e-03 8.29996036e+01] [ 5.88469927e-01 8.08510730e-01 -3.68018714e-03 2.85039693e+01] [ 6.28542047e-03 -2.30874915e-05 9.99980246e-01 4.82412499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.02, Y:28.52, Z:0.48 [[ 8.07059070e-01 -5.90448732e-01 -5.09437977e-03 8.30222546e+01] [ 5.90437255e-01 8.07075147e-01 -3.68162127e-03 2.85180171e+01] [ 6.28535591e-03 -3.66257654e-05 9.99980246e-01 4.82777836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:28.53, Z:0.48 [[ 8.05487427e-01 -5.92590972e-01 -5.09367719e-03 8.30460536e+01] [ 5.92579531e-01 8.05503530e-01 -3.68259306e-03 2.85334365e+01] [ 6.28524636e-03 -5.21264328e-05 9.99980246e-01 4.83381032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:28.55, Z:0.48 [[ 8.05320576e-01 -5.92817708e-01 -5.09263895e-03 8.30691802e+01] [ 5.92806263e-01 8.05336676e-01 -3.68402828e-03 2.85502499e+01] [ 6.28524613e-03 -5.21244862e-05 9.99980246e-01 4.83560064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.09, Y:28.56, Z:0.48 [[ 8.02851040e-01 -5.96157935e-01 -5.09160144e-03 8.30920222e+01] [ 5.96146548e-01 8.02867181e-01 -3.68546163e-03 2.85646583e+01] [ 6.28499689e-03 -7.64639181e-05 9.99980246e-01 4.84142787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.121858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:83.12, Y:28.58, Z:0.49 [[ 8.01573377e-01 -5.97874738e-01 -5.09115193e-03 8.31153543e+01] [ 5.97863382e-01 8.01589540e-01 -3.68608248e-03 2.85804975e+01] [ 6.28482973e-03 -8.91477283e-05 9.99980246e-01 4.85008720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:28.59, Z:0.49 [[ 8.00033286e-01 -5.99934022e-01 -5.09011411e-03 8.31384032e+01] [ 5.99922699e-01 8.00049472e-01 -3.68751507e-03 2.85946884e+01] [ 6.28460885e-03 -1.03540194e-04 9.99980246e-01 4.86142250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:28.61, Z:0.49 [[ 7.99577139e-01 -6.00541836e-01 -5.08940956e-03 8.31612176e+01] [ 6.00530518e-01 7.99593329e-01 -3.68848721e-03 2.86097030e+01] [ 6.28454881e-03 -1.07115709e-04 9.99980246e-01 4.86427665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:28.63, Z:0.49 [[ 7.99351911e-01 -6.00841599e-01 -5.08871653e-03 8.31849500e+01] [ 6.00830281e-01 7.99368101e-01 -3.68944308e-03 2.86255072e+01] [ 6.28452855e-03 -1.08291602e-04 9.99980246e-01 4.86929722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.241858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.21, Y:28.64, Z:0.49 [[ 7.99336327e-01 -6.00862339e-01 -5.08770096e-03 8.32084489e+01] [ 6.00851013e-01 7.99352512e-01 -3.69084300e-03 2.86416317e+01] [ 6.28455510e-03 -1.06725387e-04 9.99980246e-01 4.86959864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.271858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.23, Y:28.66, Z:0.49 [[ 7.99683593e-01 -6.00400097e-01 -5.08667669e-03 8.32318398e+01] [ 6.00388753e-01 7.99699764e-01 -3.69225410e-03 2.86578297e+01] [ 6.28464387e-03 -1.01348446e-04 9.99980246e-01 4.86523792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.301858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:83.25, Y:28.67, Z:0.49 [[ 8.01044467e-01 -5.98583243e-01 -5.08564130e-03 8.32548691e+01] [ 5.98571853e-01 8.01060606e-01 -3.69367968e-03 2.86746010e+01] [ 6.28488166e-03 -8.53200661e-05 9.99980246e-01 4.85127246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.28, Y:28.69, Z:0.48 [[ 8.01774663e-01 -5.97604832e-01 -5.08460690e-03 8.32765223e+01] [ 5.97593413e-01 8.01790782e-01 -3.69510306e-03 2.86901411e+01] [ 6.28500239e-03 -7.58875805e-05 9.99980246e-01 4.84554705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:28.71, Z:0.48 [[ 8.02266688e-01 -5.96944146e-01 -5.08415901e-03 8.32985485e+01] [ 5.96932710e-01 8.02282794e-01 -3.69571921e-03 2.87054738e+01] [ 6.28507124e-03 -6.99484086e-05 9.99980246e-01 4.84937405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.32, Y:28.72, Z:0.49 [[ 8.03021807e-01 -5.95927960e-01 -5.08371476e-03 8.33217748e+01] [ 5.95916499e-01 8.03037896e-01 -3.69633021e-03 2.87210795e+01] [ 6.28516213e-03 -6.12357412e-05 9.99980246e-01 4.85457954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:83.34, Y:28.74, Z:0.49 [[ 8.02976507e-01 -5.95989006e-01 -5.08269948e-03 8.33445426e+01] [ 5.95977538e-01 8.02992591e-01 -3.69772575e-03 2.87376485e+01] [ 6.28517392e-03 -5.99878102e-05 9.99980246e-01 4.85365785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.37, Y:28.75, Z:0.49 [[ 8.02799508e-01 -5.96227411e-01 -5.08169044e-03 8.33672909e+01] [ 5.96215939e-01 8.02815589e-01 -3.69911194e-03 2.87543350e+01] [ 6.28517224e-03 -6.01395883e-05 9.99980246e-01 4.85024762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:28.77, Z:0.48 [[ 8.01940947e-01 -5.97381707e-01 -5.08068436e-03 8.33903855e+01] [ 5.97370250e-01 8.01957038e-01 -3.70049326e-03 2.87695887e+01] [ 6.28509756e-03 -6.74726104e-05 9.99980246e-01 4.84560702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.41, Y:28.79, Z:0.49 [[ 8.01228441e-01 -5.98337015e-01 -5.07964476e-03 8.34122702e+01] [ 5.98325567e-01 8.01244539e-01 -3.70191977e-03 2.87850682e+01] [ 6.28503324e-03 -7.31979268e-05 9.99980246e-01 4.85225826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.43, Y:28.80, Z:0.49 [[ 8.00323909e-01 -5.99546366e-01 -5.07893916e-03 8.34348846e+01] [ 5.99534937e-01 8.00340020e-01 -3.70288758e-03 2.88013896e+01] [ 6.28493106e-03 -8.14920074e-05 9.99980246e-01 4.85077429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.46, Y:28.82, Z:0.48 [[ 7.99257326e-01 -6.00967505e-01 -5.07790719e-03 8.34574546e+01] [ 6.00956095e-01 7.99273451e-01 -3.70430221e-03 2.88178991e+01] [ 6.28480166e-03 -9.09085985e-05 9.99980246e-01 4.84707399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.48, Y:28.83, Z:0.48 [[ 7.97762388e-01 -6.02950576e-01 -5.07685912e-03 8.34796316e+01] [ 6.02939197e-01 7.97778536e-01 -3.70573807e-03 2.88336098e+01] [ 6.28458614e-03 -1.04738906e-04 9.99980246e-01 4.84283466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.631858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:83.50, Y:28.85, Z:0.48 [[ 7.96803987e-01 -6.04216548e-01 -5.07640472e-03 8.35020442e+01] [ 6.04205191e-01 7.96820149e-01 -3.70636044e-03 2.88497768e+01] [ 6.28442587e-03 -1.13947308e-04 9.99980246e-01 4.84363513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.52, Y:28.87, Z:0.48 [[ 7.96054109e-01 -6.05204178e-01 -5.07536563e-03 8.35243776e+01] [ 6.05192832e-01 7.96070279e-01 -3.70778278e-03 2.88662023e+01] [ 6.28431336e-03 -1.19979180e-04 9.99980246e-01 4.84187192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.55, Y:28.88, Z:0.48 [[ 7.95029138e-01 -6.06550015e-01 -5.07433554e-03 8.35465205e+01] [ 6.06538687e-01 7.95045321e-01 -3.70919198e-03 2.88831775e+01] [ 6.28413719e-03 -1.28865112e-04 9.99980246e-01 4.83664362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:28.90, Z:0.48 [[ 7.94631578e-01 -6.07070767e-01 -5.07330643e-03 8.35692503e+01] [ 6.07059441e-01 7.94647762e-01 -3.71059904e-03 2.89004343e+01] [ 6.28408781e-03 -1.31239401e-04 9.99980246e-01 4.83742095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.59, Y:28.92, Z:0.48 [[ 7.94783398e-01 -6.06871998e-01 -5.07227693e-03 8.35947781e+01] [ 6.06860659e-01 7.94799573e-01 -3.71200580e-03 2.89182514e+01] [ 6.28415592e-03 -1.27924736e-04 9.99980246e-01 4.83336997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:28.93, Z:0.48 [[ 7.93925722e-01 -6.07993410e-01 -5.09525064e-03 8.36132643e+01] [ 6.07982294e-01 7.93942053e-01 -3.68060826e-03 2.89346888e+01] [ 6.28311932e-03 -1.75692602e-04 9.99980246e-01 4.82348638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.63, Y:28.95, Z:0.48 [[ 7.93708889e-01 -6.08276653e-01 -5.07083258e-03 8.36345445e+01] [ 6.08265330e-01 7.93725075e-01 -3.71394745e-03 2.89513881e+01] [ 6.28395449e-03 -1.36618551e-04 9.99980246e-01 4.81707782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84185806400001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:83.66, Y:28.97, Z:0.48 [[ 7.93485620e-01 -6.08567878e-01 -5.07039453e-03 8.36569919e+01] [ 6.08556557e-01 7.93501808e-01 -3.71454538e-03 2.89686679e+01] [ 6.28392023e-03 -1.38183500e-04 9.99980246e-01 4.81162208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.871858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:83.68, Y:28.99, Z:0.48 [[ 7.93036585e-01 -6.09152917e-01 -5.06937097e-03 8.36790279e+01] [ 6.09141600e-01 7.93052775e-01 -3.71594175e-03 2.89853847e+01] [ 6.28385547e-03 -1.41086982e-04 9.99980246e-01 4.81293322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.70, Y:29.00, Z:0.48 [[ 7.92350887e-01 -6.10044575e-01 -5.06834945e-03 8.37005385e+01] [ 6.10033266e-01 7.92367084e-01 -3.71733452e-03 2.90016274e+01] [ 6.28373303e-03 -1.46428470e-04 9.99980246e-01 4.82384237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.72, Y:29.02, Z:0.48 [[ 7.91946665e-01 -6.10569240e-01 -5.06790667e-03 8.37219662e+01] [ 6.10557938e-01 7.91962866e-01 -3.71793807e-03 2.90179842e+01] [ 6.28365252e-03 -1.49841990e-04 9.99980246e-01 4.83095060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.75, Y:29.04, Z:0.48 [[ 7.91319516e-01 -6.11381834e-01 -5.06721952e-03 8.37450581e+01] [ 6.11370543e-01 7.91335725e-01 -3.71887436e-03 2.90360873e+01] [ 6.28352406e-03 -1.55130894e-04 9.99980246e-01 4.81494893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.991858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:83.77, Y:29.05, Z:0.48 [[ 7.91669702e-01 -6.10928252e-01 -5.07486140e-03 8.37656837e+01] [ 6.10917018e-01 7.91685950e-01 -3.70846013e-03 2.90514522e+01] [ 6.28329953e-03 -1.64443675e-04 9.99980246e-01 4.82890164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.021858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.79, Y:29.07, Z:0.48 [[ 7.90395849e-01 -6.12575552e-01 -5.05908619e-03 8.37866774e+01] [ 6.12564215e-01 7.90412025e-01 -3.72993022e-03 2.90693763e+01] [ 6.28362663e-03 -1.50893804e-04 9.99980246e-01 4.83039158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.81, Y:29.09, Z:0.48 [[ 7.90121529e-01 -6.12929291e-01 -5.06497300e-03 8.38084104e+01] [ 6.12918012e-01 7.90137746e-01 -3.72191915e-03 2.90867406e+01] [ 6.28329962e-03 -1.63644731e-04 9.99980246e-01 4.83331626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.081858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:83.83, Y:29.10, Z:0.48 [[ 7.89743675e-01 -6.13416078e-01 -5.06393095e-03 8.38301211e+01] [ 6.13404800e-01 7.89759893e-01 -3.72333640e-03 2.91046746e+01] [ 6.28324397e-03 -1.65758179e-04 9.99980246e-01 4.83046618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.111858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:83.85, Y:29.12, Z:0.48 [[ 7.89747872e-01 -6.13410684e-01 -5.06286862e-03 8.38513817e+01] [ 6.13399396e-01 7.89764083e-01 -3.72478036e-03 2.91216141e+01] [ 6.28329186e-03 -1.63923193e-04 9.99980246e-01 4.83335746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:29.14, Z:0.48 [[ 7.88967287e-01 -6.14414349e-01 -5.06240857e-03 8.38736077e+01] [ 6.14403079e-01 7.88983509e-01 -3.72540551e-03 2.91403464e+01] [ 6.28309948e-03 -1.71136335e-04 9.99980246e-01 4.81401437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:29.16, Z:0.48 [[ 7.89830699e-01 -6.13303993e-01 -5.06756282e-03 8.38953146e+01] [ 6.13292744e-01 7.89846937e-01 -3.71840487e-03 2.91566723e+01] [ 6.28311153e-03 -1.70989191e-04 9.99980246e-01 4.82574271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:83.92, Y:29.17, Z:0.48 [[ 7.89835494e-01 -6.13297872e-01 -5.06090025e-03 8.39160207e+01] [ 6.13286565e-01 7.89851692e-01 -3.72745089e-03 2.91736931e+01] [ 6.28339833e-03 -1.59709114e-04 9.99980247e-01 4.82212222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.231858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:83.94, Y:29.19, Z:0.48 [[ 7.90357886e-01 -6.12624523e-01 -5.06021693e-03 8.39368623e+01] [ 6.12613197e-01 7.90374070e-01 -3.72837832e-03 2.91924349e+01] [ 6.28356023e-03 -1.53202467e-04 9.99980247e-01 4.81117932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.96, Y:29.21, Z:0.48 [[ 7.90344630e-01 -6.12641633e-01 -5.05920683e-03 8.39585173e+01] [ 6.12630298e-01 7.90360808e-01 -3.72974846e-03 2.92102898e+01] [ 6.28359798e-03 -1.51636715e-04 9.99980247e-01 4.77427875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:29.23, Z:0.48 [[ 7.90815513e-01 -6.12033690e-01 -5.05836547e-03 8.39803610e+01] [ 6.12022336e-01 7.90831677e-01 -3.73088904e-03 2.92273682e+01] [ 6.28374544e-03 -1.45387721e-04 9.99980247e-01 4.80543969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.00, Y:29.24, Z:0.48 [[ 7.91019918e-01 -6.11769495e-01 -5.05711842e-03 8.40010259e+01] [ 6.11758124e-01 7.91036071e-01 -3.73257863e-03 2.92442065e+01] [ 6.28384082e-03 -1.41189238e-04 9.99980247e-01 4.81029996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.02, Y:29.26, Z:0.48 [[ 7.91357772e-01 -6.11332403e-01 -5.05666172e-03 8.40226619e+01] [ 6.11321020e-01 7.91373915e-01 -3.73319723e-03 2.92629096e+01] [ 6.28393462e-03 -1.36948954e-04 9.99980247e-01 4.81622793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.04, Y:29.28, Z:0.48 [[ 7.91277778e-01 -6.11435948e-01 -5.05563632e-03 8.40437663e+01] [ 6.11424558e-01 7.91293917e-01 -3.73458535e-03 2.92797933e+01] [ 6.28395400e-03 -1.36045804e-04 9.99980247e-01 4.82052131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.411858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.07, Y:29.30, Z:0.48 [[ 7.91083816e-01 -6.11686883e-01 -5.05493877e-03 8.40660624e+01] [ 6.11675492e-01 7.91099955e-01 -3.73552928e-03 2.92973001e+01] [ 6.28393609e-03 -1.36865396e-04 9.99980247e-01 4.82732657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.09, Y:29.31, Z:0.48 [[ 7.90741461e-01 -6.12129398e-01 -5.05391407e-03 8.40880400e+01] [ 6.12118007e-01 7.90757600e-01 -3.73691511e-03 2.93148548e+01] [ 6.28389655e-03 -1.38658092e-04 9.99980247e-01 4.83412192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:84.11, Y:29.33, Z:0.48 [[ 7.89714020e-01 -6.13454346e-01 -5.05287036e-03 8.41104318e+01] [ 6.13442973e-01 7.89730171e-01 -3.73832583e-03 2.93338934e+01] [ 6.28369640e-03 -1.47439492e-04 9.99980247e-01 4.82188868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:29.35, Z:0.48 [[ 7.90236445e-01 -6.12781212e-01 -5.05443253e-03 8.41339110e+01] [ 6.12769839e-01 7.90252596e-01 -3.73621489e-03 2.93510766e+01] [ 6.28376072e-03 -1.44710633e-04 9.99980247e-01 4.84639256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.531858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.16, Y:29.37, Z:0.48 [[ 7.90187504e-01 -6.12844344e-01 -5.05166953e-03 8.41592524e+01] [ 6.12832948e-01 7.90203639e-01 -3.73994697e-03 2.93694578e+01] [ 6.28385299e-03 -1.40570167e-04 9.99980247e-01 4.82939729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:29.39, Z:0.48 [[ 7.89835893e-01 -6.13297184e-01 -5.08190376e-03 8.41775255e+01] [ 6.13286060e-01 7.89852218e-01 -3.69909883e-03 2.93859424e+01] [ 6.28259986e-03 -1.94979706e-04 9.99980245e-01 4.83962213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.20, Y:29.40, Z:0.48 [[ 7.89942495e-01 -6.13160134e-01 -5.05021023e-03 8.41987134e+01] [ 6.13148732e-01 7.89958626e-01 -3.74187394e-03 2.94026428e+01] [ 6.28382506e-03 -1.40664760e-04 9.99980247e-01 4.83693663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.22, Y:29.42, Z:0.48 [[ 7.89920220e-01 -6.13188836e-01 -5.04949008e-03 8.42206517e+01] [ 6.13177429e-01 7.89936346e-01 -3.74284549e-03 2.94200564e+01] [ 6.28384682e-03 -1.39684015e-04 9.99980247e-01 4.83442892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.24, Y:29.44, Z:0.48 [[ 7.90175350e-01 -6.12860041e-01 -5.04844837e-03 8.42422915e+01] [ 6.12848618e-01 7.90191465e-01 -3.74425005e-03 2.94385259e+01] [ 6.28394206e-03 -1.35320518e-04 9.99980247e-01 4.83136864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.26, Y:29.46, Z:0.48 [[ 7.90023682e-01 -6.13055549e-01 -5.04741091e-03 8.42639078e+01] [ 6.13044121e-01 7.90039794e-01 -3.74564807e-03 2.94557971e+01] [ 6.28394581e-03 -1.35134911e-04 9.99980247e-01 4.83007990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.29, Y:29.47, Z:0.48 [[ 7.89240708e-01 -6.14063220e-01 -5.04637119e-03 8.42863392e+01] [ 6.14051804e-01 7.89256829e-01 -3.74704833e-03 2.94736710e+01] [ 6.28380748e-03 -1.41410256e-04 9.99980247e-01 4.80228650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.741858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:84.31, Y:29.49, Z:0.48 [[ 7.89321062e-01 -6.13959852e-01 -5.05576152e-03 8.43076831e+01] [ 6.13948515e-01 7.89337238e-01 -3.73440443e-03 2.94898568e+01] [ 6.28347522e-03 -1.56333207e-04 9.99980247e-01 4.83596490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.33, Y:29.51, Z:0.48 [[ 7.87777668e-01 -6.15939032e-01 -5.04523341e-03 8.43288368e+01] [ 6.15927645e-01 7.87793808e-01 -3.74857429e-03 2.95066799e+01] [ 6.28349686e-03 -1.54455618e-04 9.99980247e-01 4.83959834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.35, Y:29.52, Z:0.48 [[ 7.86831445e-01 -6.17147330e-01 -5.04477109e-03 8.43504212e+01] [ 6.17135963e-01 7.86847600e-01 -3.74919636e-03 2.95236405e+01] [ 6.28327255e-03 -1.63324075e-04 9.99980247e-01 4.83759904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.37, Y:29.54, Z:0.48 [[ 7.85934736e-01 -6.18288888e-01 -5.04405303e-03 8.43727646e+01] [ 6.18277538e-01 7.85950903e-01 -3.75016217e-03 2.95413767e+01] [ 6.28306163e-03 -1.71241975e-04 9.99980247e-01 4.83842260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.39, Y:29.56, Z:0.48 [[ 7.84943701e-01 -6.19546571e-01 -5.04303415e-03 8.43929829e+01] [ 6.19535239e-01 7.84959880e-01 -3.75153181e-03 2.95590588e+01] [ 6.28282815e-03 -1.79596106e-04 9.99980247e-01 4.83794766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:29.58, Z:0.48 [[ 7.84706229e-01 -6.19847326e-01 -5.04259282e-03 8.44147649e+01] [ 6.19835996e-01 7.84722410e-01 -3.75212493e-03 2.95762371e+01] [ 6.28278019e-03 -1.81264733e-04 9.99980247e-01 4.83599368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:84.44, Y:29.59, Z:0.48 [[ 7.84756831e-01 -6.19783268e-01 -5.04154180e-03 8.44356503e+01] [ 6.19771928e-01 7.84773004e-01 -3.75353660e-03 2.95927945e+01] [ 6.28284509e-03 -1.78992589e-04 9.99980247e-01 4.83427399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.951858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:84.46, Y:29.61, Z:0.48 [[ 7.84587017e-01 -6.19998225e-01 -5.04108623e-03 8.44585296e+01] [ 6.19986886e-01 7.84603192e-01 -3.75414834e-03 2.96099251e+01] [ 6.28281766e-03 -1.79951299e-04 9.99980247e-01 4.83606775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.48, Y:29.63, Z:0.48 [[ 7.84828382e-01 -6.19692673e-01 -5.04005742e-03 8.44805565e+01] [ 6.19681318e-01 7.84844545e-01 -3.75552905e-03 2.96270263e+01] [ 6.28293541e-03 -1.75783641e-04 9.99980247e-01 4.83916474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.011858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:84.50, Y:29.65, Z:0.48 [[ 7.85007352e-01 -6.19465952e-01 -5.03901958e-03 8.45034449e+01] [ 6.19454583e-01 7.85023506e-01 -3.75692106e-03 2.96459061e+01] [ 6.28303350e-03 -1.72233123e-04 9.99980247e-01 4.84645127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:29.66, Z:0.48 [[ 7.86442800e-01 -6.17642386e-01 -5.06013098e-03 8.45238792e+01] [ 6.17631162e-01 7.86459055e-01 -3.72860444e-03 2.96623933e+01] [ 6.28252998e-03 -1.92960457e-04 9.99980246e-01 4.83828421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.55, Y:29.68, Z:0.48 [[ 7.86578648e-01 -6.17469558e-01 -5.03746245e-03 8.45450907e+01] [ 6.17458135e-01 7.86594763e-01 -3.75898285e-03 2.96810660e+01] [ 6.28349906e-03 -1.53686516e-04 9.99980247e-01 4.80802744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.101858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:84.56, Y:29.70, Z:0.48 [[ 7.85709122e-01 -6.18575689e-01 -5.02913325e-03 8.45616864e+01] [ 6.18564217e-01 7.85725203e-01 -3.77013811e-03 2.97015924e+01] [ 6.28363253e-03 -1.48609967e-04 9.99980247e-01 4.76871087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.57, Y:29.72, Z:0.48 [[ 7.85162863e-01 -6.19269109e-01 -5.00499390e-03 8.45749245e+01] [ 6.19257445e-01 7.85178806e-01 -3.80244429e-03 2.97187765e+01] [ 6.28455142e-03 -1.13841690e-04 9.99980246e-01 4.75475246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.61, Y:29.73, Z:0.48 [[ 7.91953419e-01 -6.10561658e-01 -4.92389596e-03 8.46132095e+01] [ 6.10549140e-01 7.91968720e-01 -3.91074311e-03 2.97342195e+01] [ 6.28732138e-03 9.08459312e-05 9.99980230e-01 4.82072409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:29.75, Z:0.48 [[ 7.93876642e-01 -6.08057889e-01 -5.04790052e-03 8.46347617e+01] [ 6.08046366e-01 7.93892684e-01 -3.74473777e-03 2.97510648e+01] [ 6.28450863e-03 -9.64977203e-05 9.99980248e-01 4.82644977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.66, Y:29.77, Z:0.48 [[ 7.94806573e-01 -6.06841964e-01 -5.03403789e-03 8.46564132e+01] [ 6.06830299e-01 7.94822512e-01 -3.76328142e-03 2.97677944e+01] [ 6.28488373e-03 -6.37259091e-05 9.99980248e-01 4.83202730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.251858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.68, Y:29.78, Z:0.48 [[ 7.95267123e-01 -6.06238292e-01 -5.03357246e-03 8.46785377e+01] [ 6.06226610e-01 7.95283050e-01 -3.76390385e-03 2.97844990e+01] [ 6.28493750e-03 -5.81765899e-05 9.99980248e-01 4.84085943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.70, Y:29.80, Z:0.49 [[ 7.95431350e-01 -6.06022805e-01 -5.03257823e-03 8.47031742e+01] [ 6.06011111e-01 7.95447268e-01 -3.76523273e-03 2.98023654e+01] [ 6.28496751e-03 -5.48141726e-05 9.99980248e-01 4.85002421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.311858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:84.73, Y:29.82, Z:0.48 [[ 7.95711373e-01 -6.05654975e-01 -5.04594584e-03 8.47283066e+01] [ 6.05643386e-01 7.95727369e-01 -3.74736549e-03 2.98195247e+01] [ 6.28480776e-03 -7.42223901e-05 9.99980248e-01 4.83304765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:29.84, Z:0.49 [[ 7.95986925e-01 -6.05292679e-01 -5.05847928e-03 8.47489438e+01] [ 6.05281189e-01 7.96002993e-01 -3.73062020e-03 2.98351128e+01] [ 6.28468174e-03 -9.22774471e-05 9.99980247e-01 4.86606443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.371858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:84.77, Y:29.85, Z:0.49 [[ 7.95743164e-01 -6.05613337e-01 -5.03012522e-03 8.47719621e+01] [ 6.05601614e-01 7.95759061e-01 -3.76846703e-03 2.98515679e+01] [ 6.28500162e-03 -4.75200754e-05 9.99980248e-01 4.86774806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:29.87, Z:0.49 [[ 7.95414809e-01 -6.06044544e-01 -5.02911343e-03 8.47947552e+01] [ 6.06032821e-01 7.95430706e-01 -3.76981681e-03 2.98683544e+01] [ 6.28498815e-03 -4.92396775e-05 9.99980248e-01 4.86607667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:29.89, Z:0.49 [[ 7.95040746e-01 -6.06535184e-01 -5.02810491e-03 8.48178267e+01] [ 6.06523463e-01 7.95056644e-01 -3.77116146e-03 2.98850396e+01] [ 6.28497033e-03 -5.14365775e-05 9.99980248e-01 4.86341889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.461858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:84.84, Y:29.90, Z:0.48 [[ 7.94546194e-01 -6.07182899e-01 -5.02708873e-03 8.48437299e+01] [ 6.07171182e-01 7.94562096e-01 -3.77251559e-03 2.99019271e+01] [ 6.28494111e-03 -5.48655017e-05 9.99980248e-01 4.82955377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.491858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.86, Y:29.92, Z:0.49 [[ 7.93620185e-01 -6.08392459e-01 -5.06133998e-03 8.48627984e+01] [ 6.08381056e-01 7.93636315e-01 -3.72685193e-03 2.99157884e+01] [ 6.28425183e-03 -1.21518446e-04 9.99980247e-01 4.85954700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.521858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.89, Y:29.93, Z:0.48 [[ 7.92334761e-01 -6.10065889e-01 -5.02372621e-03 8.48886284e+01] [ 6.10054201e-01 7.92350684e-01 -3.77695443e-03 2.99337706e+01] [ 6.28474396e-03 -7.21329898e-05 9.99980248e-01 4.81794484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:29.95, Z:0.49 [[ 7.91945021e-01 -6.10571589e-01 -5.04174921e-03 8.49107661e+01] [ 6.10560064e-01 7.91961062e-01 -3.75296751e-03 2.99493928e+01] [ 6.28432439e-03 -1.06146787e-04 9.99980248e-01 4.85883921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.581858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:84.93, Y:29.97, Z:0.49 [[ 7.90958907e-01 -6.11848649e-01 -5.02377308e-03 8.49342095e+01] [ 6.11836998e-01 7.90974856e-01 -3.77687827e-03 2.99656848e+01] [ 6.28455605e-03 -8.63747318e-05 9.99980248e-01 4.85979694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.96, Y:29.98, Z:0.48 [[ 7.88315866e-01 -6.15250248e-01 -5.02270774e-03 8.49596428e+01] [ 6.15238657e-01 7.88331859e-01 -3.77829448e-03 2.99818846e+01] [ 6.28415715e-03 -1.11674484e-04 9.99980248e-01 4.83903900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.98, Y:30.00, Z:0.49 [[ 7.87460491e-01 -6.16344587e-01 -5.03253024e-03 8.49812414e+01] [ 6.16333101e-01 7.87476560e-01 -3.76523970e-03 2.99971717e+01] [ 6.28368471e-03 -1.36737462e-04 9.99980248e-01 4.86331414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:30.01, Z:0.49 [[ 7.86697270e-01 -6.17318550e-01 -5.02131676e-03 8.50029970e+01] [ 6.17306989e-01 7.86713285e-01 -3.78013505e-03 3.00125354e+01] [ 6.28388409e-03 -1.25872008e-04 9.99980248e-01 4.87302240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.03, Y:30.03, Z:0.49 [[ 7.84384041e-01 -6.20255266e-01 -5.00819473e-03 8.50279830e+01] [ 6.20243654e-01 7.84400018e-01 -3.79755534e-03 3.00294691e+01] [ 6.28388173e-03 -1.27559196e-04 9.99980248e-01 4.88816787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:30.05, Z:0.49 [[ 7.84554694e-01 -6.20039301e-01 -5.01974699e-03 8.50525369e+01] [ 6.20027782e-01 7.84570739e-01 -3.78222324e-03 3.00450278e+01] [ 6.28347366e-03 -1.45021591e-04 9.99980248e-01 4.86773035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.761858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.07, Y:30.06, Z:0.49 [[ 7.83030585e-01 -6.21962945e-01 -5.01971327e-03 8.50740656e+01] [ 6.21951465e-01 7.83046659e-01 -3.78226797e-03 3.00611313e+01] [ 6.28310023e-03 -1.60386519e-04 9.99980248e-01 4.89558142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.791858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.10, Y:30.08, Z:0.49 [[ 7.83041967e-01 -6.21948626e-01 -5.01840583e-03 8.51007481e+01] [ 6.21937135e-01 7.83058032e-01 -3.78400192e-03 3.00779578e+01] [ 6.28315779e-03 -1.58100639e-04 9.99980248e-01 4.87513433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.821858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:85.12, Y:30.09, Z:0.49 [[ 7.82883352e-01 -6.22148042e-01 -5.04694775e-03 8.51200855e+01] [ 6.22136798e-01 7.82899592e-01 -3.74613630e-03 3.00934292e+01] [ 6.28190470e-03 -2.07104174e-04 9.99980247e-01 4.89589264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.851858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.14, Y:30.11, Z:0.49 [[ 7.83270470e-01 -6.21660841e-01 -5.01692829e-03 8.51421230e+01] [ 6.21649332e-01 7.83286522e-01 -3.78591676e-03 3.01099158e+01] [ 6.28324851e-03 -1.53373323e-04 9.99980248e-01 4.89415746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.16, Y:30.13, Z:0.49 [[ 7.83810614e-01 -6.20979675e-01 -5.01647099e-03 8.51646273e+01] [ 6.20968148e-01 7.83826653e-01 -3.78652261e-03 3.01267238e+01] [ 6.28339724e-03 -1.47152087e-04 9.99980248e-01 4.89552329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.911858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:85.19, Y:30.14, Z:0.49 [[ 7.85839607e-01 -6.18410024e-01 -5.01541394e-03 8.51861904e+01] [ 6.18398435e-01 7.85855602e-01 -3.78792219e-03 3.01429064e+01] [ 6.28388019e-03 -1.24824848e-04 9.99980248e-01 4.89097395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.21, Y:30.16, Z:0.49 [[ 7.86930301e-01 -6.17021518e-01 -5.01469542e-03 8.52087741e+01] [ 6.17009896e-01 7.86946271e-01 -3.78887318e-03 3.01600693e+01] [ 6.28411214e-03 -1.12537580e-04 9.99980248e-01 4.89741792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.971858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.23, Y:30.18, Z:0.49 [[ 7.87964857e-01 -6.15699803e-01 -5.01363062e-03 8.52307598e+01] [ 6.15688144e-01 7.87980801e-01 -3.79028165e-03 3.01767724e+01] [ 6.28432034e-03 -1.00224192e-04 9.99980248e-01 4.89569410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.25, Y:30.19, Z:0.49 [[ 7.88951328e-01 -6.14435250e-01 -5.01257060e-03 8.52522642e+01] [ 6.14423557e-01 7.88967246e-01 -3.79168299e-03 3.01929313e+01] [ 6.28449771e-03 -8.83881259e-05 9.99980248e-01 4.89723081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.031858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.27, Y:30.21, Z:0.49 [[ 7.90471620e-01 -6.12478161e-01 -5.01211096e-03 8.52735938e+01] [ 6.12466424e-01 7.90487506e-01 -3.79229047e-03 3.02087781e+01] [ 6.28470619e-03 -7.20516893e-05 9.99980248e-01 4.90268407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.30, Y:30.23, Z:0.49 [[ 7.90958954e-01 -6.11848690e-01 -5.01139759e-03 8.52964125e+01] [ 6.11836935e-01 7.90974827e-01 -3.79323294e-03 3.02257516e+01] [ 6.28477394e-03 -6.58665838e-05 9.99980248e-01 4.90899400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09185806400001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.32, Y:30.24, Z:0.49 [[ 7.91300203e-01 -6.11407299e-01 -5.01035671e-03 8.53186134e+01] [ 6.11395526e-01 7.91316063e-01 -3.79460730e-03 3.02425699e+01] [ 6.28482635e-03 -6.06361506e-05 9.99980248e-01 4.91953777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.34, Y:30.26, Z:0.49 [[ 7.92197699e-01 -6.10243978e-01 -5.00927993e-03 8.53404908e+01] [ 6.10232174e-01 7.92213535e-01 -3.79602824e-03 3.02591274e+01] [ 6.28492273e-03 -4.96189414e-05 9.99980248e-01 4.93050014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.151858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.36, Y:30.28, Z:0.49 [[ 7.92504898e-01 -6.09844979e-01 -5.00881340e-03 8.53627535e+01] [ 6.09833162e-01 7.92520725e-01 -3.79664371e-03 3.02759667e+01] [ 6.28495253e-03 -4.56817778e-05 9.99980248e-01 4.93234835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.181858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.38, Y:30.29, Z:0.49 [[ 7.92679397e-01 -6.09618156e-01 -5.00775776e-03 8.53848411e+01] [ 6.09606326e-01 7.92695214e-01 -3.79803559e-03 3.02926882e+01] [ 6.28497706e-03 -4.21362473e-05 9.99980248e-01 4.93126936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.41, Y:30.31, Z:0.49 [[ 7.92973180e-01 -6.09235971e-01 -5.00670906e-03 8.54076746e+01] [ 6.09224124e-01 7.92988985e-01 -3.79941752e-03 3.03098028e+01] [ 6.28500696e-03 -3.73717441e-05 9.99980248e-01 4.91390231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.241858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.43, Y:30.33, Z:0.49 [[ 7.92922485e-01 -6.09301958e-01 -5.00566048e-03 8.54300876e+01] [ 6.09290105e-01 7.92938284e-01 -3.80079850e-03 3.03266056e+01] [ 6.28501380e-03 -3.61608116e-05 9.99980248e-01 4.90773736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.271858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.45, Y:30.34, Z:0.49 [[ 7.92570479e-01 -6.09759780e-01 -5.00461479e-03 8.54522644e+01] [ 6.09747927e-01 7.92586279e-01 -3.80217489e-03 3.03430787e+01] [ 6.28500234e-03 -3.80619157e-05 9.99980248e-01 4.90696241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.301858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.47, Y:30.36, Z:0.49 [[ 7.91901512e-01 -6.10628332e-01 -5.00356821e-03 8.54748094e+01] [ 6.10616488e-01 7.91917318e-01 -3.80355166e-03 3.03595716e+01] [ 6.28496873e-03 -4.32229351e-05 9.99980248e-01 4.90592653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.331858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.50, Y:30.38, Z:0.49 [[ 7.91256019e-01 -6.11464543e-01 -5.00251408e-03 8.54968251e+01] [ 6.11452706e-01 7.91271831e-01 -3.80493758e-03 3.03754755e+01] [ 6.28493289e-03 -4.81210071e-05 9.99980248e-01 4.90284431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.361858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.52, Y:30.39, Z:0.49 [[ 7.89391924e-01 -6.13869180e-01 -5.00205767e-03 8.55194426e+01] [ 6.13857388e-01 7.89407769e-01 -3.80553749e-03 3.03919983e+01] [ 6.28476536e-03 -6.64894900e-05 9.99980248e-01 4.88892887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.391858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.54, Y:30.41, Z:0.49 [[ 7.88247509e-01 -6.15338000e-01 -5.00101812e-03 8.55421283e+01] [ 6.15326229e-01 7.88263370e-01 -3.80690313e-03 3.04090430e+01] [ 6.28465155e-03 -7.64757110e-05 9.99980248e-01 4.88321293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.56, Y:30.42, Z:0.49 [[ 7.86065901e-01 -6.18122479e-01 -4.99998626e-03 8.55645097e+01] [ 6.18110755e-01 7.86081797e-01 -3.80825788e-03 3.04243643e+01] [ 6.28436799e-03 -9.70036245e-05 9.99980248e-01 4.88085934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:30.44, Z:0.49 [[ 7.84509795e-01 -6.20096272e-01 -4.99953865e-03 8.55874508e+01] [ 6.20084585e-01 7.84525717e-01 -3.80884542e-03 3.04412726e+01] [ 6.28411749e-03 -1.12060312e-04 9.99980248e-01 4.88923477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.61, Y:30.46, Z:0.49 [[ 7.82895384e-01 -6.22133291e-01 -4.99850943e-03 8.56094352e+01] [ 6.22121636e-01 7.82911331e-01 -3.81019564e-03 3.04576846e+01] [ 6.28383922e-03 -1.26696286e-04 9.99980248e-01 4.88992714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.511858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.63, Y:30.48, Z:0.49 [[ 7.80707342e-01 -6.24876840e-01 -4.99806330e-03 8.56310238e+01] [ 6.24865238e-01 7.80723327e-01 -3.81078075e-03 3.04751788e+01] [ 6.28337324e-03 -1.48011502e-04 9.99980248e-01 4.90042268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.541858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.65, Y:30.49, Z:0.49 [[ 7.77783654e-01 -6.28512259e-01 -4.99280163e-03 8.56538343e+01] [ 6.28500687e-01 7.77799661e-01 -3.81767979e-03 3.04913008e+01] [ 6.28285796e-03 -1.68650315e-04 9.99980248e-01 4.90685782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.571858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.68, Y:30.51, Z:0.49 [[ 7.77435414e-01 -6.28942970e-01 -4.99183743e-03 8.56783331e+01] [ 6.28931398e-01 7.77451421e-01 -3.81894354e-03 3.05072533e+01] [ 6.28280880e-03 -1.70541347e-04 9.99980248e-01 4.91737350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.601858064 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:85.70, Y:30.52, Z:0.49 [[ 7.76392037e-01 -6.30230469e-01 -4.99610612e-03 8.56997321e+01] [ 6.30218960e-01 7.76408089e-01 -3.81335087e-03 3.05240815e+01] [ 6.28230711e-03 -1.87985556e-04 9.99980248e-01 4.90031905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.72, Y:30.54, Z:0.49 [[ 7.75970726e-01 -6.30749199e-01 -4.98810686e-03 8.57214534e+01] [ 6.30737633e-01 7.75986737e-01 -3.82382266e-03 3.05408816e+01] [ 6.28257785e-03 -1.79012269e-04 9.99980248e-01 4.92172947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.661858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.75, Y:30.56, Z:0.49 [[ 7.77535222e-01 -6.28819616e-01 -4.98696069e-03 8.57503033e+01] [ 6.28808001e-01 7.77551198e-01 -3.82532399e-03 3.05589536e+01] [ 6.28305602e-03 -1.61516645e-04 9.99980248e-01 4.90315884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.691858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:85.77, Y:30.58, Z:0.49 [[ 7.77989768e-01 -6.28256657e-01 -5.04909707e-03 8.57715913e+01] [ 6.28245555e-01 7.78006109e-01 -3.74387125e-03 3.05757840e+01] [ 6.28034040e-03 -2.59379268e-04 9.99980245e-01 4.89408073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.721858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:85.79, Y:30.59, Z:0.49 [[ 7.76915263e-01 -6.29584949e-01 -5.04648218e-03 8.57872408e+01] [ 6.29573853e-01 7.76931607e-01 -3.74730167e-03 3.05937888e+01] [ 6.28001624e-03 -2.65797369e-04 9.99980245e-01 4.93126849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.751858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:85.82, Y:30.61, Z:0.49 [[ 7.79693376e-01 -6.26141612e-01 -4.99204723e-03 8.58154268e+01] [ 6.26129985e-01 7.79709343e-01 -3.81864280e-03 3.06128529e+01] [ 6.28335702e-03 -1.48299956e-04 9.99980249e-01 4.89380514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.84, Y:30.63, Z:0.49 [[ 7.82136072e-01 -6.23087275e-01 -5.04113348e-03 8.58404813e+01] [ 6.23075998e-01 7.82152291e-01 -3.75429793e-03 3.06288542e+01] [ 6.28218936e-03 -2.04637433e-04 9.99980246e-01 4.87627898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.811858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.85, Y:30.65, Z:0.49 [[ 7.80237941e-01 -6.25462270e-01 -5.06996742e-03 8.58537387e+01] [ 6.25451287e-01 7.80254366e-01 -3.71646515e-03 3.06473522e+01] [ 6.28037294e-03 -2.71290526e-04 9.99980241e-01 4.91646679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84185806400001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.88, Y:30.66, Z:0.49 [[ 7.82456686e-01 -6.22684975e-01 -4.99554142e-03 8.58811282e+01] [ 6.22673308e-01 7.82472623e-01 -3.81394900e-03 3.06647661e+01] [ 6.28376314e-03 -1.26340404e-04 9.99980249e-01 4.90477259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.871858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.90, Y:30.68, Z:0.49 [[ 7.82281023e-01 -6.22905377e-01 -5.02917552e-03 8.59036725e+01] [ 6.22893996e-01 7.82297167e-01 -3.76989211e-03 3.06820896e+01] [ 6.28259583e-03 -1.83528178e-04 9.99980247e-01 4.90677104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.901858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:85.92, Y:30.70, Z:0.49 [[ 7.82546613e-01 -6.22571694e-01 -5.02835921e-03 8.59203339e+01] [ 6.22560299e-01 7.82562747e-01 -3.77096091e-03 3.07009583e+01] [ 6.28270012e-03 -1.79504125e-04 9.99980248e-01 4.93589285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:30.72, Z:0.49 [[ 7.83375559e-01 -6.21528600e-01 -4.99329746e-03 8.59418088e+01] [ 6.21516891e-01 7.83391464e-01 -3.81682983e-03 3.07184220e+01] [ 6.28397551e-03 -1.13407507e-04 9.99980249e-01 4.93661194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.96, Y:30.74, Z:0.49 [[ 7.83597629e-01 -6.21248648e-01 -4.98727794e-03 8.59639150e+01] [ 6.21236883e-01 7.83613494e-01 -3.82470240e-03 3.07356046e+01] [ 6.28418948e-03 -1.01253263e-04 9.99980249e-01 4.94222776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.991858064 meters Centerline goodness : 0.996153 Centerline is valid? [True, True] Translation: X:85.99, Y:30.75, Z:0.49 [[ 7.84098374e-01 -6.20616484e-01 -4.99195682e-03 8.59875190e+01] [ 6.20604745e-01 7.84114258e-01 -3.81858579e-03 3.07535488e+01] [ 6.28414181e-03 -1.03885176e-04 9.99980249e-01 4.94570814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:30.77, Z:0.50 [[ 7.83704922e-01 -6.21113154e-01 -5.00454306e-03 8.60090219e+01] [ 6.21101530e-01 7.83720890e-01 -3.80213468e-03 3.07705598e+01] [ 6.28372080e-03 -1.28577691e-04 9.99980249e-01 4.95654812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.051858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:86.03, Y:30.79, Z:0.50 [[ 7.83437839e-01 -6.21450059e-01 -4.99768762e-03 8.60302162e+01] [ 6.21438384e-01 7.83453770e-01 -3.81108574e-03 3.07874795e+01] [ 6.28385666e-03 -1.20006142e-04 9.99980249e-01 4.96285614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.081858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.05, Y:30.80, Z:0.50 [[ 7.82780383e-01 -6.22278059e-01 -4.98894652e-03 8.60517504e+01] [ 6.22266329e-01 7.82796273e-01 -3.82249423e-03 3.08045079e+01] [ 6.28398303e-03 -1.12279944e-04 9.99980249e-01 4.95948843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.07, Y:30.82, Z:0.50 [[ 7.82481731e-01 -6.22653560e-01 -4.98848503e-03 8.60734437e+01] [ 6.22641833e-01 7.82497624e-01 -3.82309639e-03 3.08217444e+01] [ 6.28394226e-03 -1.14536379e-04 9.99980249e-01 4.96021027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:86.09, Y:30.84, Z:0.49 [[ 7.81380186e-01 -6.24035360e-01 -4.98743408e-03 8.60933166e+01] [ 6.24023653e-01 7.81396093e-01 -3.82446692e-03 3.08393691e+01] [ 6.28376409e-03 -1.23914161e-04 9.99980249e-01 4.92975110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.171858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:86.12, Y:30.86, Z:0.50 [[ 7.82483254e-01 -6.22651813e-01 -4.96768320e-03 8.61174487e+01] [ 6.22639914e-01 7.82499018e-01 -3.85020797e-03 3.08563010e+01] [ 6.28454620e-03 -8.03545777e-05 9.99980249e-01 4.95396335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.14, Y:30.87, Z:0.49 [[ 7.82259152e-01 -6.22933190e-01 -4.98590881e-03 8.61394278e+01] [ 6.22921448e-01 7.82275033e-01 -3.82645987e-03 3.08730666e+01] [ 6.28398083e-03 -1.12546284e-04 9.99980249e-01 4.94998978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:30.89, Z:0.50 [[ 7.82035632e-01 -6.23213784e-01 -4.98484807e-03 8.61619413e+01] [ 6.23202039e-01 7.82051511e-01 -3.82784122e-03 3.08898658e+01] [ 6.28397138e-03 -1.13059246e-04 9.99980249e-01 4.95412261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.261858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.18, Y:30.91, Z:0.49 [[ 7.81850600e-01 -6.23445909e-01 -4.98377755e-03 8.61841479e+01] [ 6.23434159e-01 7.81866476e-01 -3.82923452e-03 3.09068201e+01] [ 6.28396918e-03 -1.13167860e-04 9.99980249e-01 4.94617559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.21, Y:30.93, Z:0.49 [[ 7.81073046e-01 -6.24419748e-01 -4.98749361e-03 8.62068146e+01] [ 6.24408049e-01 7.81088960e-01 -3.82439990e-03 3.09259613e+01] [ 6.28370701e-03 -1.27095478e-04 9.99980249e-01 4.94026554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.321858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:86.23, Y:30.94, Z:0.49 [[ 7.81574259e-01 -6.23792209e-01 -4.99578329e-03 8.62283812e+01] [ 6.23780566e-01 7.81590214e-01 -3.81362610e-03 3.09429208e+01] [ 6.28356558e-03 -1.35640537e-04 9.99980249e-01 4.93461146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.25, Y:30.96, Z:0.49 [[ 7.81472530e-01 -6.23919776e-01 -4.97978927e-03 8.62496511e+01] [ 6.23908003e-01 7.81488388e-01 -3.83439778e-03 3.09598315e+01] [ 6.28400409e-03 -1.10453842e-04 9.99980249e-01 4.92587041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.381858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:86.27, Y:30.98, Z:0.49 [[ 7.81261070e-01 -6.24184546e-01 -4.97932143e-03 8.62732253e+01] [ 6.24172775e-01 7.81276929e-01 -3.83500522e-03 3.09775775e+01] [ 6.28397995e-03 -1.11816591e-04 9.99980249e-01 4.93066749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.411858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:86.30, Y:30.99, Z:0.49 [[ 7.80727859e-01 -6.24851329e-01 -4.98257865e-03 8.62959597e+01] [ 6.24839598e-01 7.80743749e-01 -3.83077746e-03 3.09939399e+01] [ 6.28378352e-03 -1.22517759e-04 9.99980249e-01 4.93590526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.32, Y:31.01, Z:0.49 [[ 7.80272414e-01 -6.25420003e-01 -4.97794556e-03 8.63183220e+01] [ 6.25408246e-01 7.80288284e-01 -3.83678854e-03 3.10108742e+01] [ 6.28383690e-03 -1.19507938e-04 9.99980249e-01 4.93972659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:31.03, Z:0.49 [[ 7.80069327e-01 -6.25673298e-01 -4.97685747e-03 8.63394440e+01] [ 6.25661537e-01 7.80085194e-01 -3.83819943e-03 3.10272060e+01] [ 6.28383172e-03 -1.19766653e-04 9.99980249e-01 4.93852450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:86.36, Y:31.05, Z:0.49 [[ 7.77091080e-01 -6.29368511e-01 -4.97307537e-03 8.63577846e+01] [ 6.29356794e-01 7.77106979e-01 -3.84310169e-03 3.10457645e+01] [ 6.28333877e-03 -1.43398727e-04 9.99980249e-01 4.89525058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.531858064 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:86.39, Y:31.06, Z:0.49 [[ 7.77700811e-01 -6.28615174e-01 -4.94082792e-03 8.63863126e+01] [ 6.28603176e-01 7.77716501e-01 -3.88475745e-03 3.10645290e+01] [ 6.28458089e-03 -8.46411038e-05 9.99980248e-01 4.93168677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:86.41, Y:31.08, Z:0.49 [[ 7.76980284e-01 -6.29505148e-01 -4.99078997e-03 8.64065779e+01] [ 6.29493580e-01 7.76996293e-01 -3.82017032e-03 3.10809101e+01] [ 6.28264218e-03 -1.73473228e-04 9.99980249e-01 4.94898106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.43, Y:31.10, Z:0.49 [[ 7.76470526e-01 -6.30133974e-01 -4.96953603e-03 8.64286735e+01] [ 6.30122244e-01 7.76486416e-01 -3.84762161e-03 3.10970472e+01] [ 6.28329432e-03 -1.43850414e-04 9.99980250e-01 4.94961085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.621858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.45, Y:31.11, Z:0.49 [[ 7.76080742e-01 -6.30613979e-01 -4.96906087e-03 8.64504568e+01] [ 6.30602254e-01 7.76096636e-01 -3.84823518e-03 3.11140812e+01] [ 6.28322232e-03 -1.46959773e-04 9.99980250e-01 4.94952159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.651858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:86.48, Y:31.13, Z:0.49 [[ 7.77359262e-01 -6.29037278e-01 -4.96798294e-03 8.64751456e+01] [ 6.29025513e-01 7.77375125e-01 -3.84962625e-03 3.11306836e+01] [ 6.28354478e-03 -1.32445397e-04 9.99980250e-01 4.93159151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.49, Y:31.15, Z:0.50 [[ 7.75552029e-01 -6.31264015e-01 -4.97929876e-03 8.64939378e+01] [ 6.31252389e-01 7.75567995e-01 -3.83502595e-03 3.11486681e+01] [ 6.28269863e-03 -1.68932077e-04 9.99980249e-01 4.95035363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:31.17, Z:0.50 [[ 7.75914644e-01 -6.30818356e-01 -4.96654346e-03 8.65156639e+01] [ 6.30806615e-01 7.75930526e-01 -3.85147413e-03 3.11653350e+01] [ 6.28327326e-03 -1.44513293e-04 9.99980250e-01 4.95145533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.741858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.54, Y:31.18, Z:0.49 [[ 7.75417854e-01 -6.31429036e-01 -4.95219845e-03 8.65387538e+01] [ 6.31417189e-01 7.75433657e-01 -3.86995727e-03 3.11829871e+01] [ 6.28370474e-03 -1.26069269e-04 9.99980249e-01 4.94660011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.56, Y:31.20, Z:0.49 [[ 7.75585794e-01 -6.31222642e-01 -4.96508940e-03 8.65609465e+01] [ 6.31210897e-01 7.75601673e-01 -3.85334711e-03 3.12000085e+01] [ 6.28325159e-03 -1.45417251e-04 9.99980250e-01 4.94639018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.801858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:86.58, Y:31.22, Z:0.49 [[ 7.75536081e-01 -6.31283796e-01 -4.95534206e-03 8.65840494e+01] [ 6.31271972e-01 7.75551902e-01 -3.86590111e-03 3.12174821e+01] [ 6.28360568e-03 -1.30022759e-04 9.99980250e-01 4.93663685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:31.23, Z:0.49 [[ 7.75005590e-01 -6.31934942e-01 -4.95627350e-03 8.66063476e+01] [ 6.31923139e-01 7.75021425e-01 -3.86470169e-03 3.12348386e+01] [ 6.28345819e-03 -1.36818492e-04 9.99980250e-01 4.93115339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:31.25, Z:0.49 [[ 7.76424480e-01 -6.30190757e-01 -4.96356457e-03 8.66261148e+01] [ 6.30178979e-01 7.76440334e-01 -3.85531472e-03 3.12492717e+01] [ 6.28349544e-03 -1.34573324e-04 9.99980250e-01 4.91068538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.65, Y:31.27, Z:0.49 [[ 7.75713950e-01 -6.31065457e-01 -4.92510588e-03 8.66486829e+01] [ 6.31053381e-01 7.75729581e-01 -3.90476721e-03 3.12666507e+01] [ 6.28471403e-03 -7.90223238e-05 9.99980248e-01 4.90780586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:31.29, Z:0.49 [[ 7.73867264e-01 -6.33328580e-01 -4.93634681e-03 8.66716560e+01] [ 6.33316642e-01 7.73882999e-01 -3.89031831e-03 3.12864956e+01] [ 6.28400464e-03 -1.15680598e-04 9.99980249e-01 4.92519913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.951858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:86.69, Y:31.30, Z:0.49 [[ 7.73544659e-01 -6.33722375e-01 -4.96102921e-03 8.66938901e+01] [ 6.33710648e-01 7.73560551e-01 -3.85858385e-03 3.13040003e+01] [ 6.28292741e-03 -1.59070107e-04 9.99980250e-01 4.93537111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.72, Y:31.32, Z:0.50 [[ 7.72872230e-01 -6.34542288e-01 -4.95997430e-03 8.67159232e+01] [ 6.34530569e-01 7.72888128e-01 -3.85993939e-03 3.13226556e+01] [ 6.28280003e-03 -1.64015350e-04 9.99980250e-01 4.95525797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.011858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.74, Y:31.34, Z:0.50 [[ 7.72647298e-01 -6.34816163e-01 -4.95902926e-03 8.67371875e+01] [ 6.34804442e-01 7.72663195e-01 -3.86115315e-03 3.13404902e+01] [ 6.28278182e-03 -1.64704254e-04 9.99980250e-01 4.96018627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:31.36, Z:0.50 [[ 7.73228523e-01 -6.34108090e-01 -4.95795204e-03 8.67635771e+01] [ 6.34096345e-01 7.73244403e-01 -3.86253586e-03 3.13585609e+01] [ 6.28297390e-03 -1.57196365e-04 9.99980250e-01 4.95786436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:31.38, Z:0.50 [[ 7.72766112e-01 -6.34671228e-01 -4.99686905e-03 8.67791770e+01] [ 6.34659817e-01 7.72782234e-01 -3.81256700e-03 3.13750130e+01] [ 6.28121821e-03 -2.25089417e-04 9.99980248e-01 4.96687441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.101858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.80, Y:31.39, Z:0.50 [[ 7.72555030e-01 -6.34928551e-01 -4.94571976e-03 8.68017134e+01] [ 6.34916724e-01 7.72570847e-01 -3.87815012e-03 3.13932969e+01] [ 6.28326714e-03 -1.44035802e-04 9.99980250e-01 4.96509027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.131858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:86.82, Y:31.41, Z:0.50 [[ 7.72412136e-01 -6.35102324e-01 -4.95277273e-03 8.68243797e+01] [ 6.35090558e-01 7.72427999e-01 -3.86910799e-03 3.14115323e+01] [ 6.28293981e-03 -1.56913228e-04 9.99980250e-01 4.96406217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:31.43, Z:0.50 [[ 7.72772690e-01 -6.34663546e-01 -4.95509821e-03 8.68456883e+01] [ 6.34651790e-01 7.72788560e-01 -3.86612750e-03 3.14294172e+01] [ 6.28293340e-03 -1.57124200e-04 9.99980250e-01 4.96354149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:31.45, Z:0.50 [[ 7.72577866e-01 -6.34900762e-01 -4.94608736e-03 8.68669477e+01] [ 6.34888937e-01 7.72593685e-01 -3.87767208e-03 3.14471722e+01] [ 6.28325282e-03 -1.44412529e-04 9.99980250e-01 4.96657101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:31.47, Z:0.50 [[ 7.74235461e-01 -6.32878272e-01 -4.95405927e-03 8.68951016e+01] [ 6.32866471e-01 7.74251298e-01 -3.86746039e-03 3.14664237e+01] [ 6.28331847e-03 -1.40933023e-04 9.99980250e-01 4.97375506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.92, Y:31.48, Z:0.50 [[ 7.74816035e-01 -6.32166974e-01 -5.00290911e-03 8.69189637e+01] [ 6.32155559e-01 7.74832157e-01 -3.80499205e-03 3.14847462e+01] [ 6.28180516e-03 -2.14447952e-04 9.99980246e-01 4.95788058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.94, Y:31.50, Z:0.50 [[ 7.74955764e-01 -6.31995636e-01 -5.00803755e-03 8.69413279e+01] [ 6.31984260e-01 7.74971914e-01 -3.79842565e-03 3.15034837e+01] [ 6.28167688e-03 -2.21389055e-04 9.99980246e-01 4.97936730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.311858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:86.97, Y:31.52, Z:0.50 [[ 7.75344833e-01 -6.31518227e-01 -5.01185047e-03 8.69657639e+01] [ 6.31506873e-01 7.75360999e-01 -3.79354773e-03 3.15218360e+01] [ 6.28168792e-03 -2.23710385e-04 9.99980245e-01 4.97124433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.98, Y:31.54, Z:0.50 [[ 7.72445365e-01 -6.35061295e-01 -5.03084013e-03 8.69780190e+01] [ 6.35050172e-01 7.72461696e-01 -3.76926389e-03 3.15400730e+01] [ 6.27984491e-03 -2.83285473e-04 9.99980241e-01 4.98449491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:31.56, Z:0.50 [[ 7.70491549e-01 -6.37431035e-01 -4.94451027e-03 8.70004275e+01] [ 6.37419250e-01 7.70507397e-01 -3.87942007e-03 3.15600530e+01] [ 6.28264449e-03 -1.62665648e-04 9.99980251e-01 4.98885721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.401858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.02, Y:31.58, Z:0.50 [[ 7.70040369e-01 -6.37975909e-01 -4.95679534e-03 8.70216667e+01] [ 6.37964237e-01 7.70056299e-01 -3.86374659e-03 3.15773268e+01] [ 6.28198872e-03 -1.87017308e-04 9.99980251e-01 4.99789880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.05, Y:31.60, Z:0.50 [[ 7.69040144e-01 -6.39181374e-01 -4.94241739e-03 8.70467953e+01] [ 6.39169609e-01 7.69056006e-01 -3.88207460e-03 3.15958247e+01] [ 6.28234556e-03 -1.73571774e-04 9.99980251e-01 5.00728516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.07, Y:31.61, Z:0.50 [[ 7.67606290e-01 -6.40902419e-01 -4.96710638e-03 8.70698058e+01] [ 6.40890892e-01 7.67622327e-01 -3.85065365e-03 3.16145346e+01] [ 6.28075500e-03 -2.27587273e-04 9.99980250e-01 5.01689172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:31.63, Z:0.50 [[ 7.65185727e-01 -6.43790325e-01 -4.98200843e-03 8.70858060e+01] [ 6.43778981e-01 7.65201896e-01 -3.83170837e-03 3.16342673e+01] [ 6.27905907e-03 -2.75343757e-04 9.99980249e-01 5.02290034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.521858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.11, Y:31.65, Z:0.50 [[ 7.66538074e-01 -6.42179881e-01 -4.93774601e-03 8.71145442e+01] [ 6.42168140e-01 7.66553954e-01 -3.88792263e-03 3.16524400e+01] [ 6.28179442e-03 -1.90622447e-04 9.99980251e-01 5.02591125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.14, Y:31.67, Z:0.50 [[ 7.66694118e-01 -6.41993109e-01 -4.99771878e-03 8.71358658e+01] [ 6.41981858e-01 7.66710353e-01 -3.81156195e-03 3.16701404e+01] [ 6.27879924e-03 -2.86142663e-04 9.99980247e-01 5.01906644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.16, Y:31.69, Z:0.50 [[ 7.65892837e-01 -6.42948827e-01 -4.99680685e-03 8.71565463e+01] [ 6.42937588e-01 7.65909081e-01 -3.81272150e-03 3.16910243e+01] [ 6.27848456e-03 -2.92498859e-04 9.99980247e-01 5.04451379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.611858064 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:87.17, Y:31.71, Z:0.50 [[ 7.65036634e-01 -6.43967388e-01 -4.99524671e-03 8.71724612e+01] [ 6.43956158e-01 7.65052884e-01 -3.81471209e-03 3.17090839e+01] [ 6.27817808e-03 -2.98325382e-04 9.99980248e-01 5.02848224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.19, Y:31.73, Z:0.50 [[ 7.66134387e-01 -6.42661261e-01 -4.96026733e-03 8.71917706e+01] [ 6.42649715e-01 7.66150409e-01 -3.85929797e-03 3.17266175e+01] [ 6.28053215e-03 -2.30973504e-04 9.99980251e-01 5.01555842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.671858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.22, Y:31.75, Z:0.50 [[ 7.70600210e-01 -6.37299681e-01 -4.94296351e-03 8.72197926e+01] [ 6.37287881e-01 7.70616047e-01 -3.88133476e-03 3.17470140e+01] [ 6.28270040e-03 -1.59133366e-04 9.99980251e-01 5.00943586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:31.77, Z:0.50 [[ 7.73301689e-01 -6.34018472e-01 -5.00750180e-03 8.72463652e+01] [ 6.34007135e-01 7.73317865e-01 -3.79898410e-03 3.17666202e+01] [ 6.28101670e-03 -2.37031052e-04 9.99980246e-01 5.00933074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:31.78, Z:0.50 [[ 7.72942164e-01 -6.34456424e-01 -5.04545482e-03 8.72686436e+01] [ 6.34445411e-01 7.72958572e-01 -3.75055197e-03 3.17844418e+01] [ 6.27948935e-03 -3.02105896e-04 9.99980238e-01 5.01133865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.29, Y:31.80, Z:0.50 [[ 7.72462003e-01 -6.35040951e-01 -5.04418218e-03 8.72854026e+01] [ 6.35029939e-01 7.72478412e-01 -3.75217483e-03 3.18044851e+01] [ 6.27930651e-03 -3.04794217e-04 9.99980239e-01 5.00850414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:31.83, Z:0.50 [[ 7.72069108e-01 -6.35518858e-01 -5.00735353e-03 8.72952456e+01] [ 6.35507551e-01 7.72085306e-01 -3.79901348e-03 3.18260565e+01] [ 6.28044879e-03 -2.49110032e-04 9.99980247e-01 5.00531488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:31.85, Z:0.50 [[ 7.73038127e-01 -6.34340349e-01 -4.93715074e-03 8.73162973e+01] [ 6.34328445e-01 7.73053883e-01 -3.88815651e-03 3.18454436e+01] [ 6.28309810e-03 -1.26081928e-04 9.99980253e-01 5.00854364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.34, Y:31.86, Z:0.50 [[ 7.73717987e-01 -6.33510941e-01 -4.93608331e-03 8.73373110e+01] [ 6.33499011e-01 7.73733723e-01 -3.88951115e-03 3.18646215e+01] [ 6.28326198e-03 -1.17619165e-04 9.99980253e-01 5.01341315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:31.88, Z:0.50 [[ 7.74231216e-01 -6.32883614e-01 -4.93499872e-03 8.73575300e+01] [ 6.32871664e-01 7.74246936e-01 -3.89088679e-03 3.18833622e+01] [ 6.28338613e-03 -1.10774833e-04 9.99980253e-01 5.01510681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.38, Y:31.90, Z:0.50 [[ 7.74002152e-01 -6.33163738e-01 -4.93452873e-03 8.73768481e+01] [ 6.33151790e-01 7.74017873e-01 -3.89148275e-03 3.19034850e+01] [ 6.28335920e-03 -1.12289680e-04 9.99980253e-01 5.01806287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.40, Y:31.92, Z:0.50 [[ 7.73458281e-01 -6.33828013e-01 -4.93342746e-03 8.73976107e+01] [ 6.33816068e-01 7.73474005e-01 -3.89287839e-03 3.19224968e+01] [ 6.28329327e-03 -1.15906573e-04 9.99980253e-01 5.01728181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:31.94, Z:0.50 [[ 7.72678929e-01 -6.34777871e-01 -4.93233264e-03 8.74172935e+01] [ 6.34765937e-01 7.72694662e-01 -3.89426504e-03 3.19407294e+01] [ 6.28318037e-03 -1.21860212e-04 9.99980253e-01 5.01549651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:31.96, Z:0.50 [[ 7.71001452e-01 -6.36814288e-01 -4.93185831e-03 8.74370924e+01] [ 6.36802392e-01 7.71017214e-01 -3.89486566e-03 3.19601622e+01] [ 6.28285376e-03 -1.37672083e-04 9.99980253e-01 5.01746642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.46, Y:31.98, Z:0.50 [[ 7.70233018e-01 -6.37743510e-01 -4.93077967e-03 8.74585036e+01] [ 6.37731624e-01 7.70248788e-01 -3.89623072e-03 3.19785119e+01] [ 6.28272291e-03 -1.43508581e-04 9.99980253e-01 5.02232371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.48, Y:32.00, Z:0.50 [[ 7.69386696e-01 -6.38764283e-01 -4.92970632e-03 8.74793796e+01] [ 6.38752410e-01 7.69402475e-01 -3.89758829e-03 3.19968521e+01] [ 6.28256843e-03 -1.50109212e-04 9.99980253e-01 5.02220870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.091858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.50, Y:32.02, Z:0.50 [[ 7.68767667e-01 -6.39509174e-01 -4.92863119e-03 8.74997695e+01] [ 6.39497307e-01 7.68783450e-01 -3.89894736e-03 3.20154432e+01] [ 6.28246269e-03 -1.54461708e-04 9.99980253e-01 5.02021249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.52, Y:32.04, Z:0.50 [[ 7.68109228e-01 -6.40299873e-01 -4.92816534e-03 8.75199237e+01] [ 6.40288018e-01 7.68125021e-01 -3.89953610e-03 3.20358915e+01] [ 6.28231957e-03 -1.60175556e-04 9.99980253e-01 5.01251873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.54, Y:32.05, Z:0.50 [[ 7.68104995e-01 -6.40304959e-01 -4.92710777e-03 8.75402309e+01] [ 6.40293096e-01 7.68120782e-01 -3.90087188e-03 3.20536590e+01] [ 6.28236148e-03 -1.58513913e-04 9.99980253e-01 5.01222361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:32.07, Z:0.50 [[ 7.67466108e-01 -6.41070590e-01 -4.92664950e-03 8.75630741e+01] [ 6.41058739e-01 7.67481903e-01 -3.90145057e-03 3.20732402e+01] [ 6.28221956e-03 -1.64040637e-04 9.99980253e-01 5.02451501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.57, Y:32.09, Z:0.50 [[ 7.65300551e-01 -6.43654136e-01 -4.94156711e-03 8.75745798e+01] [ 6.43642460e-01 7.65316476e-01 -3.88261325e-03 3.20915601e+01] [ 6.28092280e-03 -2.09236350e-04 9.99980253e-01 4.97006433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:32.11, Z:0.50 [[ 7.64247271e-01 -6.44904966e-01 -4.86760477e-03 8.76007156e+01] [ 6.44892718e-01 7.64262765e-01 -3.97592003e-03 3.21131894e+01] [ 6.28421965e-03 -1.00496841e-04 9.99980249e-01 4.95955174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.62, Y:32.13, Z:0.50 [[ 7.67600001e-01 -6.40910306e-01 -4.92114269e-03 8.76248417e+01] [ 6.40898408e-01 7.67615760e-01 -3.90832622e-03 3.21272474e+01] [ 6.28243324e-03 -1.53921308e-04 9.99980253e-01 5.00488281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.65, Y:32.14, Z:0.50 [[ 7.67168675e-01 -6.41426506e-01 -4.92555074e-03 8.76461942e+01] [ 6.41414654e-01 7.67184469e-01 -3.90276295e-03 3.21449692e+01] [ 6.28214164e-03 -1.65242944e-04 9.99980254e-01 5.00674480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:32.17, Z:0.50 [[ 7.66411563e-01 -6.42330962e-01 -4.92453419e-03 8.76682283e+01] [ 6.42319121e-01 7.66427365e-01 -3.90404523e-03 3.21650138e+01] [ 6.28198689e-03 -1.71017069e-04 9.99980254e-01 5.01090387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.69, Y:32.18, Z:0.50 [[ 7.66697564e-01 -6.41989474e-01 -4.93558482e-03 8.76885796e+01] [ 6.41977715e-01 7.66713428e-01 -3.89011052e-03 3.21832401e+01] [ 6.28158917e-03 -1.85997206e-04 9.99980253e-01 5.01252688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.71, Y:32.20, Z:0.50 [[ 7.66677150e-01 -6.42013951e-01 -4.92286708e-03 8.77089817e+01] [ 6.42002090e-01 7.66692937e-01 -3.90613857e-03 3.22010675e+01] [ 6.28212287e-03 -1.65743763e-04 9.99980254e-01 5.00696323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:32.22, Z:0.50 [[ 7.65254506e-01 -6.43709027e-01 -4.92238096e-03 8.77332313e+01] [ 6.43697196e-01 7.65270316e-01 -3.90675107e-03 3.22213155e+01] [ 6.28176296e-03 -1.78863959e-04 9.99980254e-01 4.99145293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.75, Y:32.24, Z:0.50 [[ 7.63947572e-01 -6.45259194e-01 -4.96789946e-03 8.77488500e+01] [ 6.45247766e-01 7.63963679e-01 -3.84938073e-03 3.22383004e+01] [ 6.27914305e-03 -2.64800963e-04 9.99980251e-01 4.98721224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.77, Y:32.26, Z:0.50 [[ 7.66582893e-01 -6.42126641e-01 -4.90356777e-03 8.77733025e+01] [ 6.42114627e-01 7.66598564e-01 -3.93041252e-03 3.22551777e+01] [ 6.28289060e-03 -1.35665591e-04 9.99980253e-01 5.02583279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:32.27, Z:0.50 [[ 7.63240531e-01 -6.46095715e-01 -4.92134544e-03 8.77862261e+01] [ 6.46083926e-01 7.63256371e-01 -3.90802526e-03 3.22739518e+01] [ 6.28120663e-03 -1.96838909e-04 9.99980254e-01 4.99627211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:32.29, Z:0.50 [[ 7.66320181e-01 -6.42440556e-01 -4.84903962e-03 8.78165467e+01] [ 6.42428112e-01 7.66335520e-01 -3.99892027e-03 3.22934663e+01] [ 6.28505986e-03 -5.07060670e-05 9.99980248e-01 5.04237042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:32.31, Z:0.50 [[ 7.63698635e-01 -6.45554070e-01 -4.93333907e-03 8.78291158e+01] [ 6.45542368e-01 7.63714539e-01 -3.89283517e-03 3.23121817e+01] [ 6.28069836e-03 -2.11726475e-04 9.99980254e-01 5.00187822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.601858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.86, Y:32.33, Z:0.50 [[ 7.68444509e-01 -6.39898060e-01 -4.84864182e-03 8.78597467e+01] [ 6.39885563e-01 7.68459805e-01 -3.99930747e-03 3.23305390e+01] [ 6.28513544e-03 -2.93300401e-05 9.99980248e-01 5.03209286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.87, Y:32.35, Z:0.50 [[ 7.64289772e-01 -6.44854198e-01 -4.92015684e-03 8.78711786e+01] [ 6.44842375e-01 7.64305586e-01 -3.90930035e-03 3.23508110e+01] [ 6.28143210e-03 -1.84887347e-04 9.99980255e-01 4.97831442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:32.37, Z:0.50 [[ 7.67236595e-01 -6.41345853e-01 -4.84811121e-03 8.78992983e+01] [ 6.41333381e-01 7.67251911e-01 -3.99983514e-03 3.23686188e+01] [ 6.28500027e-03 -4.04356648e-05 9.99980248e-01 4.97269141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.691858064 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:87.92, Y:32.39, Z:0.50 [[ 7.68860672e-01 -6.39397653e-01 -4.88965107e-03 8.79237315e+01] [ 6.39385472e-01 7.68876215e-01 -3.94777337e-03 3.23867858e+01] [ 6.28373343e-03 -9.10841768e-05 9.99980253e-01 5.00128363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:32.40, Z:0.50 [[ 7.67024718e-01 -6.41598653e-01 -4.92443666e-03 8.79409728e+01] [ 6.41586795e-01 7.67040508e-01 -3.90416431e-03 3.24048317e+01] [ 6.28214897e-03 -1.64863006e-04 9.99980254e-01 4.96715241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.751858064 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:87.97, Y:32.42, Z:0.50 [[ 7.69156312e-01 -6.39041955e-01 -4.89366789e-03 8.79669897e+01] [ 6.39029799e-01 7.69171873e-01 -3.94271409e-03 3.24222937e+01] [ 6.28363142e-03 -9.46361802e-05 9.99980253e-01 4.99295965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.99, Y:32.44, Z:0.50 [[ 7.67798729e-01 -6.40672184e-01 -4.92594263e-03 8.79852431e+01] [ 6.40660320e-01 7.67814514e-01 -3.90226719e-03 3.24399524e+01] [ 6.28228429e-03 -1.59700195e-04 9.99980254e-01 4.97155378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.01, Y:32.46, Z:0.50 [[ 7.70792484e-01 -6.37067463e-01 -4.89840499e-03 8.80109321e+01] [ 6.37055305e-01 7.70808044e-01 -3.93680668e-03 3.24564582e+01] [ 6.28374141e-03 -8.60938822e-05 9.99980253e-01 5.01739044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.841858064 meters Centerline goodness : 0.995578 Centerline is valid? [True, True] Translation: X:88.03, Y:32.47, Z:0.50 [[ 7.69713270e-01 -6.38370846e-01 -4.91378039e-03 8.80332565e+01] [ 6.38358837e-01 7.69728945e-01 -3.91752118e-03 3.24745900e+01] [ 6.28311031e-03 -1.21387097e-04 9.99980254e-01 5.02397076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.871858064 meters Centerline goodness : 0.995860 Centerline is valid? [True, True] Translation: X:88.05, Y:32.49, Z:0.50 [[ 7.70012934e-01 -6.38009221e-01 -4.93103755e-03 8.80548364e+01] [ 6.37997343e-01 7.70028709e-01 -3.89587846e-03 3.24912319e+01] [ 6.28264686e-03 -1.46112052e-04 9.99980253e-01 5.04004531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.901858064 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:88.08, Y:32.51, Z:0.50 [[ 7.68993596e-01 -6.39237667e-01 -4.90446948e-03 8.80767653e+01] [ 6.39225602e-01 7.69009228e-01 -3.92916668e-03 3.25080473e+01] [ 6.28325363e-03 -1.13558435e-04 9.99980254e-01 5.04657575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:32.53, Z:0.51 [[ 7.67118239e-01 -6.41487042e-01 -4.89718643e-03 8.80996630e+01] [ 6.41474964e-01 7.67133861e-01 -3.93828868e-03 3.25261829e+01] [ 6.28315869e-03 -1.20289412e-04 9.99980254e-01 5.05472578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.961858064 meters Centerline goodness : 0.996637 Centerline is valid? [True, True] Translation: X:88.12, Y:32.54, Z:0.51 [[ 7.66093881e-01 -6.42709930e-01 -4.91036288e-03 8.81221266e+01] [ 6.42697983e-01 7.66109602e-01 -3.92179083e-03 3.25432598e+01] [ 6.28245006e-03 -1.51420363e-04 9.99980254e-01 5.05702458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:32.56, Z:0.51 [[ 7.64938802e-01 -6.44084284e-01 -4.90541187e-03 8.81442909e+01] [ 6.44072325e-01 7.64954515e-01 -3.92798700e-03 3.25604866e+01] [ 6.28237166e-03 -1.54770362e-04 9.99980254e-01 5.05806343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:32.58, Z:0.50 [[ 7.61201992e-01 -6.48496346e-01 -4.90061183e-03 8.81646353e+01] [ 6.48484439e-01 7.61217745e-01 -3.93399477e-03 3.25799884e+01] [ 6.28161392e-03 -1.83405858e-04 9.99980254e-01 5.03835920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.051858064 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:88.19, Y:32.59, Z:0.51 [[ 7.62602606e-01 -6.46848674e-01 -4.90494432e-03 8.81860432e+01] [ 6.46836768e-01 7.62618360e-01 -3.92857592e-03 3.25945541e+01] [ 6.28179471e-03 -1.76756100e-04 9.99980254e-01 5.05717531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:32.61, Z:0.51 [[ 7.63339796e-01 -6.45978763e-01 -4.87786051e-03 8.82084102e+01] [ 6.45966623e-01 7.63355370e-01 -3.96244731e-03 3.26122720e+01] [ 6.28319783e-03 -1.26241363e-04 9.99980253e-01 5.05897209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:32.63, Z:0.51 [[ 7.63757154e-01 -6.45485172e-01 -4.88904912e-03 8.82309101e+01] [ 6.45473111e-01 7.63772789e-01 -3.94842878e-03 3.26316488e+01] [ 6.28277491e-03 -1.40109022e-04 9.99980253e-01 5.05447939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141858064 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:88.25, Y:32.65, Z:0.50 [[ 7.66194953e-01 -6.42589460e-01 -4.90708297e-03 8.82505503e+01] [ 6.42577484e-01 7.66210653e-01 -3.92584352e-03 3.26481698e+01] [ 6.28256491e-03 -1.45219533e-04 9.99980254e-01 5.04423419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.171858064 meters Centerline goodness : 0.995858 Centerline is valid? [True, True] Translation: X:88.27, Y:32.67, Z:0.50 [[ 7.70479207e-01 -6.37446422e-01 -4.88364937e-03 8.82728951e+01] [ 6.37434155e-01 7.70494682e-01 -3.95517283e-03 3.26667776e+01] [ 6.28403663e-03 -6.56264886e-05 9.99980253e-01 5.03061341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201858064 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:88.29, Y:32.68, Z:0.50 [[ 7.73164384e-01 -6.34186838e-01 -4.88774032e-03 8.82942058e+01] [ 6.34174538e-01 7.73179832e-01 -3.95005381e-03 3.26840354e+01] [ 6.28417437e-03 -4.56395455e-05 9.99980253e-01 5.03466663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.31, Y:32.70, Z:0.50 [[ 7.73888459e-01 -6.33303107e-01 -4.88144492e-03 8.83141335e+01] [ 6.33290739e-01 7.73903853e-01 -3.95793796e-03 3.27032830e+01] [ 6.28434344e-03 -2.83713536e-05 9.99980253e-01 4.97869862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:32.72, Z:0.50 [[ 7.80757570e-01 -6.24815047e-01 -4.87590953e-03 8.83408322e+01] [ 6.24802469e-01 7.80772793e-01 -3.96489882e-03 3.27204102e+01] [ 6.28430595e-03 4.91444553e-05 9.99980252e-01 5.03669773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.36, Y:32.74, Z:0.50 [[ 7.82281938e-01 -6.22905197e-01 -4.90758386e-03 8.83636098e+01] [ 6.22892831e-01 7.82297332e-01 -3.92507751e-03 3.27373171e+01] [ 6.28414094e-03 1.36184388e-05 9.99980254e-01 5.00800317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:32.75, Z:0.50 [[ 7.83250402e-01 -6.21686915e-01 -4.91808351e-03 8.83863977e+01] [ 6.21674608e-01 7.83265842e-01 -3.91187716e-03 3.27538437e+01] [ 6.28412967e-03 6.53171893e-06 9.99980255e-01 5.01344287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.41, Y:32.77, Z:0.51 [[ 7.84441354e-01 -6.20183510e-01 -4.91698121e-03 8.84103531e+01] [ 6.20171164e-01 7.84456764e-01 -3.91326219e-03 3.27678307e+01] [ 6.28409985e-03 2.03547343e-05 9.99980255e-01 5.05238887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.43, Y:32.79, Z:0.50 [[ 7.82322117e-01 -6.22854783e-01 -4.90152741e-03 8.84290984e+01] [ 6.22842368e-01 7.82337471e-01 -3.93267190e-03 3.27850432e+01] [ 6.28413206e-03 2.37372659e-05 9.99980254e-01 4.99364578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:32.80, Z:0.50 [[ 7.82292603e-01 -6.22892135e-01 -4.86536843e-03 8.84495341e+01] [ 6.22879437e-01 7.82307728e-01 -3.97807194e-03 3.27994405e+01] [ 6.28412505e-03 8.14782987e-05 9.99980251e-01 5.02252447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.48, Y:32.82, Z:0.51 [[ 7.84006280e-01 -6.20734014e-01 -4.84126337e-03 8.84795840e+01] [ 6.20721087e-01 7.84021215e-01 -4.00831232e-03 3.28155598e+01] [ 6.28374898e-03 1.37467764e-04 9.99980248e-01 5.07195988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:32.83, Z:0.51 [[ 7.83273224e-01 -6.21658351e-01 -4.89397321e-03 8.85042190e+01] [ 6.21645853e-01 7.83288512e-01 -3.94214589e-03 3.28303254e+01] [ 6.28406090e-03 4.54591760e-05 9.99980254e-01 5.07596130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:32.85, Z:0.51 [[ 7.82165447e-01 -6.23051577e-01 -4.89339163e-03 8.85291528e+01] [ 6.23039102e-01 7.82180753e-01 -3.94287575e-03 3.28472255e+01] [ 6.28413171e-03 3.52068478e-05 9.99980254e-01 5.07751870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.55, Y:32.86, Z:0.51 [[ 7.82167992e-01 -6.23048214e-01 -4.91481178e-03 8.85519087e+01] [ 6.23035908e-01 7.82183433e-01 -3.91599214e-03 3.28623921e+01] [ 6.28413626e-03 8.59491465e-07 9.99980255e-01 5.07983949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.57, Y:32.88, Z:0.50 [[ 7.77572910e-01 -6.28773662e-01 -4.90413049e-03 8.85662052e+01] [ 6.28761385e-01 7.77588375e-01 -3.92939460e-03 3.28789424e+01] [ 6.28409469e-03 -2.81370839e-05 9.99980254e-01 5.02893605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.60, Y:32.89, Z:0.50 [[ 7.79836322e-01 -6.25964911e-01 -4.82087834e-03 8.85988329e+01] [ 6.25951924e-01 7.79851213e-01 -4.03422567e-03 3.28923058e+01] [ 6.28485153e-03 1.28397637e-04 9.99980242e-01 5.04911510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.63, Y:32.91, Z:0.51 [[ 7.79899675e-01 -6.25885537e-01 -4.87767622e-03 8.86271622e+01] [ 6.25872993e-01 7.79914927e-01 -3.96276813e-03 3.29081502e+01] [ 6.28441175e-03 3.77557698e-05 9.99980252e-01 5.07217685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.65, Y:32.93, Z:0.51 [[ 7.79745435e-01 -6.26077417e-01 -4.91159874e-03 8.86494878e+01] [ 6.26065145e-01 7.79760904e-01 -3.92008294e-03 3.29259636e+01] [ 6.28414807e-03 -1.83139994e-05 9.99980254e-01 5.07414302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:32.94, Z:0.51 [[ 7.77360398e-01 -6.29036325e-01 -4.91056378e-03 8.86741665e+01] [ 6.29024104e-01 7.77375906e-01 -3.92138453e-03 3.29402124e+01] [ 6.28404728e-03 -4.05339447e-05 9.99980254e-01 5.06455165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:32.96, Z:0.51 [[ 7.76800030e-01 -6.29728134e-01 -4.91835686e-03 8.86979240e+01] [ 6.29715988e-01 7.76815598e-01 -3.91158564e-03 3.29557488e+01] [ 6.28389186e-03 -5.86481093e-05 9.99980254e-01 5.07250801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.72, Y:32.97, Z:0.51 [[ 7.75371564e-01 -6.31486215e-01 -4.90896258e-03 8.87211304e+01] [ 6.31474030e-01 7.75387101e-01 -3.92339060e-03 3.29711278e+01] [ 6.28391334e-03 -5.77968762e-05 9.99980254e-01 5.06574501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.75, Y:32.99, Z:0.51 [[ 7.75491425e-01 -6.31338954e-01 -4.91682561e-03 8.87457249e+01] [ 6.31326828e-01 7.75507009e-01 -3.91351171e-03 3.29859166e+01] [ 6.28378511e-03 -6.92291409e-05 9.99980254e-01 5.06002896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:33.00, Z:0.50 [[ 7.71433824e-01 -6.36290569e-01 -4.91596164e-03 8.87620455e+01] [ 6.36278536e-01 7.71449480e-01 -3.91459655e-03 3.30020969e+01] [ 6.28323691e-03 -1.08068690e-04 9.99980254e-01 5.01977132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.78, Y:33.02, Z:0.50 [[ 7.68822268e-01 -6.39444062e-01 -4.85909778e-03 8.87829292e+01] [ 6.39431641e-01 7.68837622e-01 -3.98591208e-03 3.30152078e+01] [ 6.28462499e-03 -4.26028994e-05 9.99980251e-01 5.00365241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.81, Y:33.03, Z:0.51 [[ 7.70756306e-01 -6.37111751e-01 -4.83049017e-03 8.88147229e+01] [ 6.37099059e-01 7.70771442e-01 -4.02164053e-03 3.30317905e+01] [ 6.28543832e-03 2.22040600e-05 9.99980246e-01 5.06080226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.84, Y:33.05, Z:0.51 [[ 7.69145815e-01 -6.39054587e-01 -4.89383791e-03 8.88382547e+01] [ 6.39042433e-01 7.69161378e-01 -3.94246008e-03 3.30490548e+01] [ 6.28359831e-03 -9.50434070e-05 9.99980253e-01 5.07017945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.86, Y:33.06, Z:0.51 [[ 7.69119817e-01 -6.39085721e-01 -4.91408524e-03 8.88617477e+01] [ 6.39073729e-01 7.69135505e-01 -3.91716129e-03 3.30633791e+01] [ 6.28299928e-03 -1.27696400e-04 9.99980254e-01 5.09054439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.951858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.89, Y:33.08, Z:0.51 [[ 7.68323788e-01 -6.40042609e-01 -4.90062461e-03 8.88856770e+01] [ 6.40030529e-01 7.68339408e-01 -3.93396779e-03 3.30806244e+01] [ 6.28325002e-03 -1.13988326e-04 9.99980254e-01 5.05442884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:33.10, Z:0.51 [[ 7.68445974e-01 -6.39895865e-01 -4.90581345e-03 8.89087339e+01] [ 6.39883823e-01 7.68461624e-01 -3.92749218e-03 3.30963806e+01] [ 6.28311538e-03 -1.21085109e-04 9.99980254e-01 5.09877470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.93, Y:33.11, Z:0.51 [[ 7.68608419e-01 -6.39700756e-01 -4.90315868e-03 8.89322556e+01] [ 6.39688689e-01 7.68624050e-01 -3.93080366e-03 3.31115862e+01] [ 6.28322375e-03 -1.15246360e-04 9.99980254e-01 5.10872109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.041858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.96, Y:33.13, Z:0.51 [[ 7.68595821e-01 -6.39715812e-01 -4.91366348e-03 8.89551573e+01] [ 6.39703829e-01 7.68611516e-01 -3.91770217e-03 3.31295726e+01] [ 6.28291436e-03 -1.32159823e-04 9.99980254e-01 5.07576118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:33.15, Z:0.51 [[ 7.69274831e-01 -6.38899143e-01 -4.91128338e-03 8.89774847e+01] [ 6.38887124e-01 7.69290498e-01 -3.92066604e-03 3.31462799e+01] [ 6.28311381e-03 -1.21686009e-04 9.99980254e-01 5.08736244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.00, Y:33.16, Z:0.51 [[ 7.71280593e-01 -6.36476344e-01 -4.91029899e-03 8.90015504e+01] [ 6.36464269e-01 7.71296217e-01 -3.92189180e-03 3.31616643e+01] [ 6.28348638e-03 -1.00350819e-04 9.99980254e-01 5.09316367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:33.18, Z:0.51 [[ 7.72750574e-01 -6.34690718e-01 -4.92372011e-03 8.90202352e+01] [ 6.34678713e-01 7.72766252e-01 -3.90517478e-03 3.31764586e+01] [ 6.28346292e-03 -1.07254287e-04 9.99980253e-01 5.12679850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:33.20, Z:0.51 [[ 7.71845712e-01 -6.35791197e-01 -4.87347999e-03 8.90453748e+01] [ 6.35778817e-01 7.71861097e-01 -3.96774660e-03 3.31956580e+01] [ 6.28430797e-03 -3.59671482e-05 9.99980253e-01 5.10270823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:33.21, Z:0.51 [[ 7.72099697e-01 -6.35482394e-01 -4.91780310e-03 8.90687432e+01] [ 6.35470358e-01 7.72115351e-01 -3.91259294e-03 3.32113143e+01] [ 6.28349520e-03 -1.04206274e-04 9.99980253e-01 5.10188370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:33.23, Z:0.51 [[ 7.71902915e-01 -6.35721383e-01 -4.92065394e-03 8.90890932e+01] [ 6.35709374e-01 7.71918591e-01 -3.90904376e-03 3.32276334e+01] [ 6.28340697e-03 -1.10703563e-04 9.99980253e-01 5.13524852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:33.24, Z:0.51 [[ 7.71901194e-01 -6.35723648e-01 -4.89790492e-03 8.91109913e+01] [ 6.35711459e-01 7.71916730e-01 -3.93734269e-03 3.32449686e+01] [ 6.28383661e-03 -7.44147603e-05 9.99980254e-01 5.13799071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:89.13, Y:33.26, Z:0.51 [[ 7.69111047e-01 -6.39096457e-01 -4.89036996e-03 8.91307956e+01] [ 6.39084277e-01 7.69126589e-01 -3.94671018e-03 3.32628025e+01] [ 6.28364206e-03 -8.99001525e-05 9.99980254e-01 5.10517155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:33.28, Z:0.51 [[ 7.71283408e-01 -6.36473178e-01 -4.87832309e-03 8.91601234e+01] [ 6.36460850e-01 7.71298834e-01 -3.96168454e-03 3.32789040e+01] [ 6.28415086e-03 -4.92801101e-05 9.99980253e-01 5.11625704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:33.29, Z:0.51 [[ 7.70265015e-01 -6.37704970e-01 -4.91706138e-03 8.91791184e+01] [ 6.37692973e-01 7.70280700e-01 -3.91350574e-03 3.32948212e+01] [ 6.28317954e-03 -1.21138929e-04 9.99980253e-01 5.14756233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:33.31, Z:0.51 [[ 7.69961928e-01 -6.38071136e-01 -4.88415544e-03 8.92066065e+01] [ 6.38058886e-01 7.69977415e-01 -3.95440350e-03 3.33136520e+01] [ 6.28388011e-03 -7.16386370e-05 9.99980254e-01 5.12885546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.401858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:89.23, Y:33.33, Z:0.52 [[ 7.69363757e-01 -6.38791899e-01 -4.93147166e-03 8.92253151e+01] [ 6.38780038e-01 7.69379547e-01 -3.89557948e-03 3.33280695e+01] [ 6.28263804e-03 -1.53007988e-04 9.99980252e-01 5.15847493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.431858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:89.25, Y:33.35, Z:0.52 [[ 7.69578108e-01 -6.38534010e-01 -4.88392994e-03 8.92474708e+01] [ 6.38521769e-01 7.69593602e-01 -3.95460111e-03 3.33450501e+01] [ 6.28378854e-03 -7.51211421e-05 9.99980254e-01 5.16214681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.461858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.28, Y:33.36, Z:0.52 [[ 7.71074924e-01 -6.36725724e-01 -4.87999493e-03 8.92751977e+01] [ 6.36713415e-01 7.71090364e-01 -3.95948521e-03 3.33629628e+01] [ 6.28402315e-03 -5.40984809e-05 9.99980254e-01 5.15587344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.491858064 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:89.29, Y:33.38, Z:0.52 [[ 7.70229486e-01 -6.37747772e-01 -4.93135748e-03 8.92924321e+01] [ 6.37735889e-01 7.70245259e-01 -3.89579585e-03 3.33811396e+01] [ 6.28288985e-03 -1.44246813e-04 9.99980252e-01 5.15172823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.521858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:89.32, Y:33.40, Z:0.51 [[ 7.72467990e-01 -6.35034879e-01 -4.88949834e-03 8.93204740e+01] [ 6.35022611e-01 7.72483462e-01 -3.94764207e-03 3.33984675e+01] [ 6.28394701e-03 -5.55148688e-05 9.99980254e-01 5.14013778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.551858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:89.34, Y:33.42, Z:0.51 [[ 7.71261267e-01 -6.36499514e-01 -4.94242107e-03 8.93368243e+01] [ 6.36487693e-01 7.71277088e-01 -3.88206841e-03 3.34152842e+01] [ 6.28291078e-03 -1.51701186e-04 9.99980251e-01 5.13756086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.581858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:89.36, Y:33.43, Z:0.51 [[ 7.72498189e-01 -6.34998155e-01 -4.88773307e-03 8.93637568e+01] [ 6.34985874e-01 7.72513650e-01 -3.94974381e-03 3.34328264e+01] [ 6.28392055e-03 -5.24715088e-05 9.99980255e-01 5.11496612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.611858064 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:89.37, Y:33.45, Z:0.51 [[ 7.68247947e-01 -6.40133406e-01 -4.93092406e-03 8.93738055e+01] [ 6.40121569e-01 7.68263754e-01 -3.89628682e-03 3.34495133e+01] [ 6.28239358e-03 -1.63076492e-04 9.99980252e-01 5.06857627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:89.41, Y:33.47, Z:0.51 [[ 7.72462978e-01 -6.35041529e-01 -4.81702144e-03 8.94063215e+01] [ 6.35028699e-01 7.72477995e-01 -4.03717863e-03 3.34660037e+01] [ 6.28481915e-03 5.96241713e-05 9.99980249e-01 5.13462609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.671858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:89.43, Y:33.48, Z:0.51 [[ 7.72523869e-01 -6.34966907e-01 -4.88863599e-03 8.94281198e+01] [ 6.34954632e-01 7.72539335e-01 -3.94851304e-03 3.34822348e+01] [ 6.28383871e-03 -5.37414922e-05 9.99980255e-01 5.13716643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701858064 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:89.45, Y:33.50, Z:0.51 [[ 7.72324372e-01 -6.35209549e-01 -4.88816750e-03 8.94505915e+01] [ 6.35197275e-01 7.72339838e-01 -3.94909293e-03 3.34986452e+01] [ 6.28382804e-03 -5.49699597e-05 9.99980255e-01 5.14206350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.731858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:89.47, Y:33.52, Z:0.52 [[ 7.72198770e-01 -6.35362240e-01 -4.88713303e-03 8.94725352e+01] [ 6.35349962e-01 7.72214232e-01 -3.95037271e-03 3.35156028e+01] [ 6.28383134e-03 -5.45668416e-05 9.99980255e-01 5.15322777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.761858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:89.49, Y:33.53, Z:0.52 [[ 7.72013905e-01 -6.35586861e-01 -4.88604944e-03 8.94947216e+01] [ 6.35574578e-01 7.72029364e-01 -3.95171251e-03 3.35326517e+01] [ 6.28383019e-03 -5.46718098e-05 9.99980255e-01 5.15835313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.791858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:89.52, Y:33.55, Z:0.52 [[ 7.72259782e-01 -6.35288098e-01 -4.88494924e-03 8.95161154e+01] [ 6.35275801e-01 7.72275230e-01 -3.95307206e-03 3.35490594e+01] [ 6.28386492e-03 -5.04914759e-05 9.99980255e-01 5.15209253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.821858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:89.54, Y:33.57, Z:0.52 [[ 7.71900465e-01 -6.35724670e-01 -4.88018630e-03 8.95389877e+01] [ 6.35712344e-01 7.71915890e-01 -3.95895561e-03 3.35672062e+01] [ 6.28389910e-03 -4.64750011e-05 9.99980255e-01 5.17707787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:33.58, Z:0.52 [[ 7.71718176e-01 -6.35945916e-01 -4.88357360e-03 8.95608417e+01] [ 6.35933621e-01 7.71733626e-01 -3.95477279e-03 3.35846503e+01] [ 6.28383956e-03 -5.36585946e-05 9.99980255e-01 5.18235429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.881858064 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:89.58, Y:33.60, Z:0.52 [[ 7.71334062e-01 -6.36411759e-01 -4.88246934e-03 8.95838638e+01] [ 6.36399465e-01 7.71349513e-01 -3.95613561e-03 3.36021454e+01] [ 6.28382157e-03 -5.56987260e-05 9.99980255e-01 5.19192186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.911858064 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:89.61, Y:33.62, Z:0.52 [[ 7.71954255e-01 -6.35659287e-01 -4.88870907e-03 8.96058995e+01] [ 6.35647026e-01 7.71969732e-01 -3.94843801e-03 3.36174196e+01] [ 6.28379673e-03 -5.94798604e-05 9.99980255e-01 5.19420638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.941858064 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:89.63, Y:33.64, Z:0.52 [[ 7.71428499e-01 -6.36297294e-01 -4.88106921e-03 8.96283386e+01] [ 6.36284987e-01 7.71443939e-01 -3.95785994e-03 3.36356021e+01] [ 6.28384683e-03 -5.25451026e-05 9.99980255e-01 5.17682413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.971858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:89.65, Y:33.65, Z:0.52 [[ 7.72566608e-01 -6.34914951e-01 -4.88277036e-03 8.96501261e+01] [ 6.34902630e-01 7.72582036e-01 -3.95576242e-03 3.36515833e+01] [ 6.28391338e-03 -4.39937871e-05 9.99980255e-01 5.18083261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001858064 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:89.67, Y:33.67, Z:0.52 [[ 7.72640726e-01 -6.34824777e-01 -4.87959046e-03 8.96720861e+01] [ 6.34812429e-01 7.72656134e-01 -3.95968108e-03 3.36690223e+01] [ 6.28394916e-03 -3.82138061e-05 9.99980255e-01 5.17686177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.031858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:89.69, Y:33.69, Z:0.52 [[ 7.72798965e-01 -6.34632145e-01 -4.87849794e-03 8.96945444e+01] [ 6.34619785e-01 7.72814363e-01 -3.96102665e-03 3.36873588e+01] [ 6.28396812e-03 -3.49140215e-05 9.99980255e-01 5.16411112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:89.72, Y:33.71, Z:0.52 [[ 7.73097802e-01 -6.34268090e-01 -4.87632151e-03 8.97168204e+01] [ 6.34255706e-01 7.73113180e-01 -3.96370611e-03 3.37055299e+01] [ 6.28400073e-03 -2.85022623e-05 9.99980255e-01 5.17045773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.091858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:89.74, Y:33.72, Z:0.52 [[ 7.72960040e-01 -6.34435961e-01 -4.87727725e-03 8.97392302e+01] [ 6.34423587e-01 7.72975427e-01 -3.96252973e-03 3.37219292e+01] [ 6.28398682e-03 -3.13825852e-05 9.99980255e-01 5.17641312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.76, Y:33.74, Z:0.52 [[ 7.72922151e-01 -6.34482129e-01 -4.87617177e-03 8.97615345e+01] [ 6.34469747e-01 7.72937531e-01 -3.96388964e-03 3.37386195e+01] [ 6.28399331e-03 -3.00053606e-05 9.99980255e-01 5.18520672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.151858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:89.78, Y:33.76, Z:0.52 [[ 7.72466095e-01 -6.35037295e-01 -4.87507057e-03 8.97834340e+01] [ 6.35024916e-01 7.72481477e-01 -3.96524351e-03 3.37562159e+01] [ 6.28397923e-03 -3.27751154e-05 9.99980255e-01 5.19644475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.181858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:89.81, Y:33.77, Z:0.52 [[ 7.72517919e-01 -6.34974259e-01 -4.87396900e-03 8.98053297e+01] [ 6.34961870e-01 7.72533294e-01 -3.96659707e-03 3.37739928e+01] [ 6.28399036e-03 -3.05171595e-05 9.99980255e-01 5.20529270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.211858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:89.83, Y:33.79, Z:0.52 [[ 7.72463425e-01 -6.35040553e-01 -4.87362801e-03 8.98266468e+01] [ 6.35028163e-01 7.72478799e-01 -3.96701599e-03 3.37915260e+01] [ 6.28399034e-03 -3.05162792e-05 9.99980255e-01 5.21167704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.241858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:89.85, Y:33.81, Z:0.52 [[ 7.72614210e-01 -6.34857103e-01 -4.87254205e-03 8.98481662e+01] [ 6.34844701e-01 7.72629573e-01 -3.96834938e-03 3.38092400e+01] [ 6.28400488e-03 -2.73043835e-05 9.99980255e-01 5.22154612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.271858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:89.87, Y:33.83, Z:0.52 [[ 7.72801433e-01 -6.34629195e-01 -4.87145573e-03 8.98700684e+01] [ 6.34616780e-01 7.72816786e-01 -3.96968247e-03 3.38274335e+01] [ 6.28401915e-03 -2.37312507e-05 9.99980255e-01 5.22601670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.301858064 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:89.89, Y:33.85, Z:0.52 [[ 7.73457215e-01 -6.33829800e-01 -4.87035466e-03 8.98912459e+01] [ 6.33817361e-01 7.73472549e-01 -3.97103291e-03 3.38455305e+01] [ 6.28404463e-03 -1.54912846e-05 9.99980255e-01 5.22065434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.331858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:89.93, Y:33.86, Z:0.52 [[ 7.78916408e-01 -6.27108858e-01 -4.86924505e-03 8.99296838e+01] [ 6.27096277e-01 7.78931627e-01 -3.97239303e-03 3.38625463e+01] [ 6.28393183e-03 4.06766625e-05 9.99980255e-01 5.21156941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.361858064 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:89.94, Y:33.88, Z:0.52 [[ 7.73702508e-01 -6.33529365e-01 -4.99735327e-03 8.99359914e+01] [ 6.33517914e-01 7.73718617e-01 -3.81504944e-03 3.38808314e+01] [ 6.28349111e-03 -2.14199503e-04 9.99980236e-01 5.21574909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.391858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:89.97, Y:33.90, Z:0.52 [[ 7.77804165e-01 -6.28487856e-01 -4.86771760e-03 8.99708713e+01] [ 6.28475294e-01 7.77819396e-01 -3.97384542e-03 3.38984235e+01] [ 6.28371876e-03 3.16332743e-05 9.99980257e-01 5.19639926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421858064 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:89.98, Y:33.92, Z:0.52 [[ 7.73458542e-01 -6.33827339e-01 -4.97872264e-03 8.99787961e+01] [ 6.33815749e-01 7.73474543e-01 -3.83762035e-03 3.39169590e+01] [ 6.28330391e-03 -1.87352575e-04 9.99980242e-01 5.21372450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.451858064 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:90.00, Y:33.93, Z:0.52 [[ 7.73419754e-01 -6.33875539e-01 -4.86670083e-03 8.99992271e+01] [ 6.33863077e-01 7.73435066e-01 -3.97477947e-03 3.39338941e+01] [ 6.28359255e-03 -1.06489990e-05 9.99980258e-01 5.20625227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.481858064 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:90.02, Y:33.95, Z:0.52 [[ 7.73508665e-01 -6.33767101e-01 -4.85881463e-03 9.00196833e+01] [ 6.33754576e-01 7.73523925e-01 -3.98442848e-03 3.39507892e+01] [ 6.28360905e-03 2.69395456e-06 9.99980258e-01 5.18611838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.511858064 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:90.04, Y:33.97, Z:0.52 [[ 7.72070035e-01 -6.35519062e-01 -4.83559545e-03 9.00444483e+01] [ 6.35506393e-01 7.72085178e-01 -4.01282810e-03 3.39708917e+01] [ 6.28372032e-03 2.51325044e-05 9.99980257e-01 5.22050101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.541858064 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:90.07, Y:33.99, Z:0.52 [[ 7.71896778e-01 -6.35729263e-01 -4.86501835e-03 9.00665453e+01] [ 6.35716825e-01 7.71912108e-01 -3.97683391e-03 3.39890264e+01] [ 6.28355626e-03 -2.30687400e-05 9.99980258e-01 5.22247525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.571858064 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:90.09, Y:34.01, Z:0.52 [[ 7.71298334e-01 -6.36455200e-01 -4.86393396e-03 9.00875428e+01] [ 6.36442768e-01 7.71313670e-01 -3.97815974e-03 3.40063633e+01] [ 6.28353921e-03 -2.72676074e-05 9.99980258e-01 5.22663204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.601858064 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:90.11, Y:34.02, Z:0.52 [[ 7.70845701e-01 -6.37003337e-01 -4.86346416e-03 9.01091469e+01] [ 6.36990912e-01 7.70861043e-01 -3.97873401e-03 3.40235836e+01] [ 6.28352190e-03 -3.09924625e-05 9.99980258e-01 5.23379826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.631858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:90.11, Y:34.04, Z:0.52 [[ 7.63946914e-01 -6.45260777e-01 -4.86236230e-03 9.01137711e+01] [ 6.45248509e-01 7.63962382e-01 -3.98008012e-03 3.40406835e+01] [ 6.28285148e-03 -9.68620995e-05 9.99980258e-01 5.16705510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.661858064 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:90.15, Y:34.06, Z:0.52 [[ 7.70174799e-01 -6.37815478e-01 -4.71117514e-03 9.01525816e+01] [ 6.37801915e-01 7.70189182e-01 -4.16432183e-03 3.40588141e+01] [ 6.28456505e-03 2.02459204e-04 9.99980231e-01 5.23832103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.691858064 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:90.18, Y:34.08, Z:0.52 [[ 7.69155702e-01 -6.39042928e-01 -4.86234706e-03 9.01770570e+01] [ 6.39030538e-01 7.69171070e-01 -3.97961839e-03 3.40786091e+01] [ 6.28312368e-03 -4.62420749e-05 9.99980260e-01 5.22849800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.721858064 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:90.20, Y:34.10, Z:0.53 [[ 7.70738039e-01 -6.37133395e-01 -4.89003855e-03 9.01973162e+01] [ 6.37121181e-01 7.70753548e-01 -3.94580023e-03 3.40951922e+01] [ 6.28301566e-03 -7.43688014e-05 9.99980259e-01 5.25554658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.751858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:90.22, Y:34.11, Z:0.53 [[ 7.71383680e-01 -6.36351793e-01 -4.85943957e-03 9.02181801e+01] [ 6.36339327e-01 7.71398986e-01 -3.98313115e-03 3.41125048e+01] [ 6.28323940e-03 -1.97301369e-05 9.99980260e-01 5.25135107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:90.24, Y:34.13, Z:0.53 [[ 7.73228718e-01 -6.34108619e-01 -4.85896053e-03 9.02391610e+01] [ 6.34096105e-01 7.73243985e-01 -3.98371543e-03 3.41306150e+01] [ 6.28327029e-03 -7.24773817e-07 9.99980260e-01 5.27585169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.811858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:90.26, Y:34.15, Z:0.53 [[ 7.74283106e-01 -6.32820727e-01 -4.85783649e-03 9.02603029e+01] [ 6.32808179e-01 7.74298345e-01 -3.98508565e-03 3.41488435e+01] [ 6.28325955e-03 1.15058295e-05 9.99980260e-01 5.27239014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.841858064 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:90.28, Y:34.17, Z:0.52 [[ 7.74142185e-01 -6.32993116e-01 -4.85729062e-03 9.02837300e+01] [ 6.32980567e-01 7.74157423e-01 -3.98575087e-03 3.41691211e+01] [ 6.28326045e-03 1.09673143e-05 9.99980260e-01 5.24381832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.871858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:90.30, Y:34.18, Z:0.52 [[ 7.76757764e-01 -6.29780531e-01 -4.88447483e-03 9.03026942e+01] [ 6.29768127e-01 7.76773122e-01 -3.95262158e-03 3.41846631e+01] [ 6.28341288e-03 -5.85705785e-06 9.99980259e-01 5.23999233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.901858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:90.33, Y:34.20, Z:0.53 [[ 7.77362745e-01 -6.29033850e-01 -4.85576248e-03 9.03252395e+01] [ 6.29021212e-01 7.77377909e-01 -3.98758520e-03 3.42034399e+01] [ 6.28308855e-03 4.54225775e-05 9.99980260e-01 5.27151339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:34.22, Z:0.52 [[ 7.78083427e-01 -6.28142191e-01 -4.85478750e-03 9.03502792e+01] [ 6.28129528e-01 7.78098570e-01 -3.98877185e-03 3.42210339e+01] [ 6.28301911e-03 5.41618874e-05 9.99980260e-01 5.24954246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:34.24, Z:0.53 [[ 7.77928684e-01 -6.28333553e-01 -4.88960530e-03 9.03689583e+01] [ 6.28321160e-01 7.77944050e-01 -3.94639339e-03 3.42393393e+01] [ 6.28349073e-03 -2.22986130e-06 9.99980259e-01 5.28700025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:34.26, Z:0.53 [[ 7.77801517e-01 -6.28491251e-01 -4.85254386e-03 9.03906626e+01] [ 6.28478579e-01 7.77816652e-01 -3.99145028e-03 3.42569290e+01] [ 6.28298100e-03 5.48362119e-05 9.99980260e-01 5.31017113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.021858064 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:90.40, Y:34.28, Z:0.53 [[ 7.73667151e-01 -6.33573676e-01 -4.85141955e-03 9.04012770e+01] [ 6.33561095e-01 7.73682362e-01 -3.99281635e-03 3.42757690e+01] [ 6.28320107e-03 1.54401696e-05 9.99980260e-01 5.25434854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.051858064 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:90.43, Y:34.29, Z:0.53 [[ 7.77255139e-01 -6.29167526e-01 -4.76173635e-03 9.04335920e+01] [ 6.29154185e-01 7.77269701e-01 -4.10161107e-03 3.42929377e+01] [ 6.28175387e-03 1.92131927e-04 9.99980251e-01 5.31014859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.081858064 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:90.46, Y:34.31, Z:0.53 [[ 7.76783063e-01 -6.29749587e-01 -4.85084794e-03 9.04552321e+01] [ 6.29736928e-01 7.76798207e-01 -3.99336491e-03 3.43104613e+01] [ 6.28294989e-03 4.72201449e-05 9.99980261e-01 5.30868883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.111858064 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:90.46, Y:34.33, Z:0.52 [[ 7.70528567e-01 -6.37387015e-01 -4.84972488e-03 9.04648029e+01] [ 6.37374497e-01 7.70543829e-01 -3.99472834e-03 3.43290291e+01] [ 6.28311356e-03 -1.30386545e-05 9.99980261e-01 5.24685444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:90.50, Y:34.34, Z:0.53 [[ 7.74892401e-01 -6.32075323e-01 -4.74909017e-03 9.05005074e+01] [ 6.32061945e-01 7.74906930e-01 -4.11669138e-03 3.43447280e+01] [ 6.28216191e-03 1.88273698e-04 9.99980249e-01 5.31782145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.171858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:90.52, Y:34.36, Z:0.53 [[ 7.73830268e-01 -6.33374455e-01 -4.84941928e-03 9.05229296e+01] [ 6.33361856e-01 7.73845463e-01 -3.99490179e-03 3.43625059e+01] [ 6.28296985e-03 1.99387296e-05 9.99980262e-01 5.32110647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:90.55, Y:34.38, Z:0.53 [[ 7.71288288e-01 -6.36467493e-01 -4.84843552e-03 9.05458793e+01] [ 6.36454948e-01 7.71303526e-01 -3.99609538e-03 3.43801134e+01] [ 6.28300022e-03 -3.66921150e-06 9.99980262e-01 5.32466049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.231858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:90.57, Y:34.40, Z:0.53 [[ 7.69881953e-01 -6.38167910e-01 -4.84745868e-03 9.05668536e+01] [ 6.38155391e-01 7.69897213e-01 -3.99727999e-03 3.43967375e+01] [ 6.28298074e-03 -1.59981670e-05 9.99980262e-01 5.32592134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.261858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:90.58, Y:34.42, Z:0.53 [[ 7.64839176e-01 -6.44203030e-01 -4.84670045e-03 9.05789401e+01] [ 6.44190626e-01 7.64854530e-01 -3.99819912e-03 3.44163401e+01] [ 6.28267278e-03 -6.42196780e-05 9.99980262e-01 5.27091894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.291858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:90.60, Y:34.43, Z:0.53 [[ 7.62803256e-01 -6.46613103e-01 -4.76314275e-03 9.06021810e+01] [ 6.46600113e-01 7.62818126e-01 -4.09889683e-03 3.44342752e+01] [ 6.28381202e-03 4.68032146e-05 9.99980256e-01 5.28785847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:34.45, Z:0.53 [[ 7.60600027e-01 -6.49203274e-01 -4.76531036e-03 9.06228983e+01] [ 6.49190351e-01 7.60614954e-01 -4.09628612e-03 3.44529302e+01] [ 6.28388868e-03 2.20418297e-05 9.99980256e-01 5.26902208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.351858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.64, Y:34.47, Z:0.53 [[ 7.60791203e-01 -6.48979129e-01 -4.77855189e-03 9.06426941e+01] [ 6.48966302e-01 7.60806210e-01 -4.08029879e-03 3.44704342e+01] [ 6.28358071e-03 3.13627693e-06 9.99980258e-01 5.27044491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.381858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:90.66, Y:34.49, Z:0.53 [[ 7.61246209e-01 -6.48445606e-01 -4.74395032e-03 9.06644153e+01] [ 6.48432507e-01 7.61260988e-01 -4.12203986e-03 3.44894066e+01] [ 6.28430295e-03 6.17556206e-05 9.99980252e-01 5.27309867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.411858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.70, Y:34.51, Z:0.54 [[ 7.65884845e-01 -6.42960152e-01 -4.75889104e-03 9.06970542e+01] [ 6.42947060e-01 7.65899625e-01 -4.10396452e-03 3.45062968e+01] [ 6.28351851e-03 8.34492299e-05 9.99980255e-01 5.36508313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:34.53, Z:0.54 [[ 7.66466479e-01 -6.42266036e-01 -4.84520210e-03 9.07187585e+01] [ 6.42253586e-01 7.66481791e-01 -3.99940029e-03 3.45251135e+01] [ 6.28243816e-03 -4.64421659e-05 9.99980264e-01 5.37282416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:34.54, Z:0.54 [[ 7.67692519e-01 -6.40800070e-01 -4.84422381e-03 9.07397252e+01] [ 6.40787582e-01 7.67707802e-01 -4.00058489e-03 3.45435557e+01] [ 6.28252349e-03 -3.28993707e-05 9.99980264e-01 5.37741397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:34.56, Z:0.54 [[ 7.68077059e-01 -6.40339105e-01 -4.84370604e-03 9.07616704e+01] [ 6.40326605e-01 7.68092331e-01 -4.00121168e-03 3.45626368e+01] [ 6.28254577e-03 -2.83149470e-05 9.99980264e-01 5.38641352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:34.58, Z:0.54 [[ 7.68661207e-01 -6.39637786e-01 -4.84273892e-03 9.07835467e+01] [ 6.39625264e-01 7.68676462e-01 -4.00238185e-03 3.45811792e+01] [ 6.28257409e-03 -2.10624945e-05 9.99980264e-01 5.39036618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:90.80, Y:34.60, Z:0.54 [[ 7.69328523e-01 -6.38835019e-01 -4.84175662e-03 9.08046358e+01] [ 6.38822474e-01 7.69343758e-01 -4.00356982e-03 3.45999690e+01] [ 6.28259583e-03 -1.29624892e-05 9.99980264e-01 5.37843054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:34.62, Z:0.54 [[ 7.69621715e-01 -6.38481774e-01 -4.84140861e-03 9.08250947e+01] [ 6.38469220e-01 7.69636943e-01 -4.00399060e-03 3.46175608e+01] [ 6.28260195e-03 -9.53226090e-06 9.99980264e-01 5.36981875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:34.64, Z:0.54 [[ 7.69776889e-01 -6.38294686e-01 -4.84093028e-03 9.08466249e+01] [ 6.38282124e-01 7.69792110e-01 -4.00456883e-03 3.46359657e+01] [ 6.28260495e-03 -7.25472637e-06 9.99980264e-01 5.36573976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:34.65, Z:0.54 [[ 7.69938833e-01 -6.38099341e-01 -4.83984400e-03 9.08671059e+01] [ 6.38086767e-01 7.69954044e-01 -4.00588127e-03 3.46538033e+01] [ 6.28260766e-03 -3.95685880e-06 9.99980264e-01 5.36324235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:34.67, Z:0.54 [[ 7.69278512e-01 -6.38895368e-01 -4.82488924e-03 9.08891878e+01] [ 6.38882696e-01 7.69293643e-01 -4.02393514e-03 3.46729974e+01] [ 6.28263014e-03 1.29885885e-05 9.99980264e-01 5.36222833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:34.69, Z:0.54 [[ 7.68804220e-01 -6.39465919e-01 -4.83834122e-03 9.09109685e+01] [ 6.39453360e-01 7.68819445e-01 -4.00769506e-03 3.46914624e+01] [ 6.28259522e-03 -1.27606783e-05 9.99980264e-01 5.36502514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:34.71, Z:0.54 [[ 7.68246526e-01 -6.40135826e-01 -4.83723574e-03 9.09323609e+01] [ 6.40123273e-01 7.68261755e-01 -4.00902893e-03 3.47098185e+01] [ 6.28258626e-03 -1.65046247e-05 9.99980264e-01 5.36732531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:34.73, Z:0.54 [[ 7.69878306e-01 -6.38172396e-01 -4.83613054e-03 9.09647519e+01] [ 6.38159795e-01 7.69893495e-01 -4.01036170e-03 3.47292118e+01] [ 6.28260757e-03 1.26639669e-06 9.99980264e-01 5.35926814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.801858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.97, Y:34.75, Z:0.54 [[ 7.66130778e-01 -6.42665709e-01 -4.94140462e-03 9.09749652e+01] [ 6.42654008e-01 7.66146687e-01 -3.88321218e-03 3.47470358e+01] [ 6.28144809e-03 -2.00565112e-04 9.99980251e-01 5.39072860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:34.77, Z:0.54 [[ 7.65234817e-01 -6.43733098e-01 -4.83457325e-03 9.09965353e+01] [ 6.43720597e-01 7.65250088e-01 -4.01194878e-03 3.47654523e+01] [ 6.28228182e-03 -4.20314853e-05 9.99980265e-01 5.39374740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:34.78, Z:0.54 [[ 7.68582860e-01 -6.39731994e-01 -4.83346605e-03 9.10329859e+01] [ 6.39719406e-01 7.68598058e-01 -4.01328225e-03 3.47836664e+01] [ 6.28241768e-03 -7.52207759e-06 9.99980265e-01 5.39097709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:34.80, Z:0.54 [[ 7.65689736e-01 -6.43191054e-01 -4.94933328e-03 9.10542681e+01] [ 6.43179427e-01 7.65705701e-01 -3.87350746e-03 3.48035678e+01] [ 6.28113805e-03 -2.17404435e-04 9.99980250e-01 5.38770206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.07, Y:34.82, Z:0.54 [[ 7.63465737e-01 -6.45829398e-01 -4.94538214e-03 9.10729715e+01] [ 6.45817795e-01 7.63481718e-01 -3.87827011e-03 3.48218038e+01] [ 6.28040970e-03 -2.32889444e-04 9.99980251e-01 5.38220758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.951858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.10, Y:34.84, Z:0.54 [[ 7.61838163e-01 -6.47748732e-01 -4.91864550e-03 9.10966326e+01] [ 6.47736962e-01 7.61854013e-01 -3.91038821e-03 3.48409042e+01] [ 6.28023882e-03 -2.06905523e-04 9.99980258e-01 5.38452663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.981858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:91.10, Y:34.86, Z:0.54 [[ 7.56494687e-01 -6.53981208e-01 -4.93637818e-03 9.11043542e+01] [ 6.53969707e-01 7.56510738e-01 -3.88909179e-03 3.48589641e+01] [ 6.27781605e-03 -2.86164517e-04 9.99980253e-01 5.38905696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.14, Y:34.88, Z:0.54 [[ 7.56584143e-01 -6.53878565e-01 -4.82251217e-03 9.11371864e+01] [ 6.53866183e-01 7.56599505e-01 -4.02550230e-03 3.48776231e+01] [ 6.28089999e-03 -1.07646411e-04 9.99980269e-01 5.39916667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:34.90, Z:0.54 [[ 7.54578790e-01 -6.56191098e-01 -4.90831842e-03 9.11566300e+01] [ 6.56179426e-01 7.54594709e-01 -3.92258709e-03 3.48965215e+01] [ 6.27775784e-03 -2.60836537e-04 9.99980261e-01 5.41012416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.18, Y:34.92, Z:0.54 [[ 7.53990751e-01 -6.56866910e-01 -4.87943270e-03 9.11818388e+01] [ 6.56855028e-01 7.54006507e-01 -3.95714118e-03 3.49152288e+01] [ 6.27843912e-03 -2.21432052e-04 9.99980266e-01 5.41373113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.20, Y:34.93, Z:0.54 [[ 7.54454249e-01 -6.56334292e-01 -4.90749250e-03 9.12040320e+01] [ 6.56322616e-01 7.54470164e-01 -3.92357072e-03 3.49333116e+01] [ 6.27773068e-03 -2.60743719e-04 9.99980261e-01 5.40428965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.131858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.22, Y:34.95, Z:0.54 [[ 7.54808137e-01 -6.55927203e-01 -4.91743324e-03 9.12242881e+01] [ 6.55915596e-01 7.54824106e-01 -3.91167282e-03 3.49511128e+01] [ 6.27756976e-03 -2.72858676e-04 9.99980259e-01 5.38997582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:34.97, Z:0.54 [[ 7.56819578e-01 -6.53605340e-01 -4.91789001e-03 9.12428737e+01] [ 6.53593687e-01 7.56835514e-01 -3.91112552e-03 3.49668228e+01] [ 6.27836634e-03 -2.54285496e-04 9.99980259e-01 5.37216632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:34.99, Z:0.54 [[ 7.58382805e-01 -6.51791154e-01 -4.87979707e-03 9.12662064e+01] [ 6.51779169e-01 7.58398483e-01 -3.95663498e-03 3.49866515e+01] [ 6.27973038e-03 -1.79906148e-04 9.99980266e-01 5.42358079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.221858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.29, Y:35.01, Z:0.54 [[ 7.59022544e-01 -6.51045965e-01 -4.89175903e-03 9.12875534e+01] [ 6.51034057e-01 7.59038283e-01 -3.94234823e-03 3.50054061e+01] [ 6.27968228e-03 -1.92370546e-04 9.99980264e-01 5.43892555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:35.02, Z:0.55 [[ 7.58181800e-01 -6.52024966e-01 -4.87879978e-03 9.13060913e+01] [ 6.52012979e-01 7.58197475e-01 -3.95780974e-03 3.50245517e+01] [ 6.27968444e-03 -1.80301465e-04 9.99980266e-01 5.47713792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:91.33, Y:35.04, Z:0.55 [[ 7.59054560e-01 -6.51008988e-01 -4.84487592e-03 9.13282541e+01] [ 6.50996721e-01 7.59070012e-01 -3.99817711e-03 3.50432577e+01] [ 6.28044926e-03 -1.19163779e-04 9.99980271e-01 5.47578509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.311858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:91.35, Y:35.06, Z:0.55 [[ 7.60651253e-01 -6.49142556e-01 -4.85927429e-03 9.13459198e+01] [ 6.49130361e-01 7.60666764e-01 -3.98103589e-03 3.50625549e+01] [ 6.28054826e-03 -1.26122538e-04 9.99980269e-01 5.48233873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.341858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.37, Y:35.08, Z:0.55 [[ 7.62101497e-01 -6.47439567e-01 -4.82865893e-03 9.13695320e+01] [ 6.47427106e-01 7.62116791e-01 -4.01744168e-03 3.50816415e+01] [ 6.28105275e-03 -6.45063537e-05 9.99980272e-01 5.49610962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.371858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.39, Y:35.10, Z:0.55 [[ 7.63624989e-01 -6.45641864e-01 -4.84339519e-03 9.13920083e+01] [ 6.45629478e-01 7.63640346e-01 -3.99992482e-03 3.51000303e+01] [ 6.28113089e-03 -7.25961572e-05 9.99980271e-01 5.50923675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.401858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:91.41, Y:35.12, Z:0.55 [[ 7.64665825e-01 -6.44408752e-01 -4.85144397e-03 9.14110754e+01] [ 6.44396402e-01 7.64681211e-01 -3.99036386e-03 3.51193494e+01] [ 6.28123345e-03 -7.49581614e-05 9.99980270e-01 5.49317731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:35.14, Z:0.55 [[ 7.66395956e-01 -6.42350279e-01 -4.83297208e-03 9.14301080e+01] [ 6.42337749e-01 7.66411194e-01 -4.01229285e-03 3.51367947e+01] [ 6.28134133e-03 -2.93953940e-05 9.99980272e-01 5.48154249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:35.16, Z:0.55 [[ 7.66176480e-01 -6.42612136e-01 -4.82115887e-03 9.14518972e+01] [ 6.42599523e-01 7.66191648e-01 -4.02630936e-03 3.51553354e+01] [ 6.28128692e-03 -1.32108584e-05 9.99980272e-01 5.48327136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:35.18, Z:0.55 [[ 7.66680423e-01 -6.42010824e-01 -4.81994096e-03 9.14697492e+01] [ 6.41998189e-01 7.66695573e-01 -4.02775346e-03 3.51754940e+01] [ 6.28128872e-03 -6.39364455e-06 9.99980272e-01 5.50295415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.521858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.50, Y:35.19, Z:0.55 [[ 7.69336673e-01 -6.38825516e-01 -4.80046329e-03 9.14982100e+01] [ 6.38812674e-01 7.69351648e-01 -4.05083559e-03 3.51948095e+01] [ 6.28102147e-03 4.98595803e-05 9.99980273e-01 5.52261775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.52, Y:35.21, Z:0.55 [[ 7.71006702e-01 -6.36808554e-01 -4.85084501e-03 9.15195608e+01] [ 6.36796047e-01 7.71021962e-01 -3.99116088e-03 3.52147253e+01] [ 6.28171342e-03 -1.17871332e-05 9.99980270e-01 5.52969226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:35.23, Z:0.55 [[ 7.72227824e-01 -6.35327173e-01 -4.85507053e-03 9.15386542e+01] [ 6.35314668e-01 7.72243086e-01 -3.98615916e-03 3.52322903e+01] [ 6.28180988e-03 -6.27450935e-06 9.99980269e-01 5.51011223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.611858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:91.56, Y:35.25, Z:0.55 [[ 7.71967512e-01 -6.35643631e-01 -4.83053615e-03 9.15619715e+01] [ 6.35630950e-01 7.71982625e-01 -4.01518381e-03 3.52527637e+01] [ 6.28131599e-03 2.91531731e-05 9.99980272e-01 5.53643368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:35.27, Z:0.55 [[ 7.74118697e-01 -6.33021873e-01 -4.85303813e-03 9.15833102e+01] [ 6.33009307e-01 7.74133909e-01 -3.98854465e-03 3.52681876e+01] [ 6.28173738e-03 1.55886800e-05 9.99980270e-01 5.49112420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:35.29, Z:0.55 [[ 7.71177956e-01 -6.36601227e-01 -4.84122063e-03 9.16052599e+01] [ 6.36588645e-01 7.71193152e-01 -4.00251167e-03 3.52901402e+01] [ 6.28152004e-03 4.78269345e-06 9.99980271e-01 5.53815712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:35.31, Z:0.55 [[ 7.71679490e-01 -6.35993104e-01 -4.85139709e-03 9.16310431e+01] [ 6.35980585e-01 7.71694740e-01 -3.99048910e-03 3.53082185e+01] [ 6.28172116e-03 -6.01576266e-06 9.99980270e-01 5.52490081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:35.33, Z:0.55 [[ 7.69700601e-01 -6.38386302e-01 -4.89015751e-03 9.16465974e+01] [ 6.38374120e-01 7.69716131e-01 -3.94468777e-03 3.53267668e+01] [ 6.28226776e-03 -8.55214553e-05 9.99980263e-01 5.53394884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:35.34, Z:0.55 [[ 7.69027593e-01 -6.39197199e-01 -4.84793840e-03 9.16666451e+01] [ 6.39184718e-01 7.69042873e-01 -3.99447466e-03 3.53446905e+01] [ 6.28152949e-03 -2.68669052e-05 9.99980271e-01 5.52629839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:35.36, Z:0.55 [[ 7.69232140e-01 -6.38950989e-01 -4.85273052e-03 9.16925546e+01] [ 6.38938539e-01 7.69247446e-01 -3.98880846e-03 3.53627979e+01] [ 6.28160367e-03 -3.22768746e-05 9.99980270e-01 5.49541215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.821858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:91.71, Y:35.38, Z:0.55 [[ 7.66097479e-01 -6.42705789e-01 -4.89091949e-03 9.17107284e+01] [ 6.42693702e-01 7.66113081e-01 -3.94363592e-03 3.53828229e+01] [ 6.28159504e-03 -1.22153617e-04 9.99980263e-01 5.53764265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.851858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:91.73, Y:35.40, Z:0.55 [[ 7.65645148e-01 -6.43244856e-01 -4.85417971e-03 9.17327895e+01] [ 6.43232504e-01 7.65660532e-01 -3.98688157e-03 3.54021873e+01] [ 6.28119488e-03 -6.98296411e-05 9.99980271e-01 5.54281289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:35.42, Z:0.56 [[ 7.65987186e-01 -6.42837589e-01 -4.84400747e-03 9.17571904e+01] [ 6.42825153e-01 7.66002501e-01 -3.99880166e-03 3.54217540e+01] [ 6.28110186e-03 -5.08190170e-05 9.99980272e-01 5.56699153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.77, Y:35.44, Z:0.56 [[ 7.66373047e-01 -6.42377346e-01 -4.86813523e-03 9.17731346e+01] [ 6.42365081e-01 7.66388503e-01 -3.97052649e-03 3.54382930e+01] [ 6.28145914e-03 -8.42156026e-05 9.99980268e-01 5.60013800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.941858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.79, Y:35.46, Z:0.55 [[ 7.63236323e-01 -6.46101501e-01 -4.81298858e-03 9.17927339e+01] [ 6.46088901e-01 7.63251498e-01 -4.03512706e-03 3.54590066e+01] [ 6.28062239e-03 -2.98629659e-05 9.99980276e-01 5.54869081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.81, Y:35.48, Z:0.56 [[ 7.64679333e-01 -6.44392946e-01 -4.82184247e-03 9.18136557e+01] [ 6.44380377e-01 7.64694534e-01 -4.02475407e-03 3.54765467e+01] [ 6.28075971e-03 -2.94544188e-05 9.99980275e-01 5.55701421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:35.49, Z:0.56 [[ 7.64590109e-01 -6.44498960e-01 -4.80167832e-03 9.18360888e+01] [ 6.44486245e-01 7.64605186e-01 -4.04837703e-03 3.54949129e+01] [ 6.28056293e-03 7.33407211e-07 9.99980277e-01 5.55954676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.031858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:91.86, Y:35.51, Z:0.56 [[ 7.62598020e-01 -6.46854710e-01 -4.82122250e-03 9.18609112e+01] [ 6.46842186e-01 7.62613258e-01 -4.02547244e-03 3.55148583e+01] [ 6.28062401e-03 -4.87527913e-05 9.99980275e-01 5.57838384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:91.88, Y:35.53, Z:0.55 [[ 7.61507366e-01 -6.48137945e-01 -4.87199076e-03 9.18794260e+01] [ 6.48125826e-01 7.61522939e-01 -3.96589904e-03 3.55321039e+01] [ 6.28058238e-03 -1.37601701e-04 9.99980267e-01 5.54761858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.90, Y:35.55, Z:0.56 [[ 7.59691617e-01 -6.50265425e-01 -4.85009033e-03 9.19008182e+01] [ 6.50253185e-01 7.59707090e-01 -3.99156323e-03 3.55519962e+01] [ 6.28022357e-03 -1.21429560e-04 9.99980272e-01 5.59288022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:35.57, Z:0.56 [[ 7.58310986e-01 -6.51874980e-01 -4.84351255e-03 9.19196088e+01] [ 6.51862724e-01 7.58326444e-01 -3.99923646e-03 3.55700746e+01] [ 6.27996583e-03 -1.24640338e-04 9.99980273e-01 5.62683344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:35.59, Z:0.56 [[ 7.59232012e-01 -6.50802276e-01 -4.81129405e-03 9.19367588e+01] [ 6.50789760e-01 7.59247254e-01 -4.03677873e-03 3.55850763e+01] [ 6.28010658e-03 -6.62892593e-05 9.99980278e-01 5.62936424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:35.61, Z:0.56 [[ 7.56655475e-01 -6.53796456e-01 -4.76304863e-03 9.19616799e+01] [ 6.53783645e-01 7.56670466e-01 -4.09292329e-03 3.56070861e+01] [ 6.27999697e-03 -1.70704785e-05 9.99980280e-01 5.58223325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.98, Y:35.63, Z:0.56 [[ 7.54407333e-01 -6.56388932e-01 -4.81095598e-03 9.19847536e+01] [ 6.56376526e-01 7.54422665e-01 -4.03713681e-03 3.56279215e+01] [ 6.27942615e-03 -1.12152958e-04 9.99980278e-01 5.58762685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.241858064 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:92.01, Y:35.65, Z:0.56 [[ 7.53334417e-01 -6.57619789e-01 -4.84441282e-03 9.20068028e+01] [ 6.57607658e-01 7.53349974e-01 -3.99820274e-03 3.56475206e+01] [ 6.27883551e-03 -1.73739237e-04 9.99980273e-01 5.58455428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.271858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:92.03, Y:35.66, Z:0.56 [[ 7.54544060e-01 -6.56231514e-01 -4.84368658e-03 9.20282660e+01] [ 6.56219349e-01 7.54559589e-01 -3.99904754e-03 3.56642426e+01] [ 6.27915118e-03 -1.61063293e-04 9.99980273e-01 5.59302282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.301858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:92.04, Y:35.68, Z:0.56 [[ 7.50533772e-01 -6.60814430e-01 -4.83173892e-03 9.20419816e+01] [ 6.60802270e-01 7.50549303e-01 -4.01292932e-03 3.56842259e+01] [ 6.27825987e-03 -1.80985069e-04 9.99980275e-01 5.55168996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.331858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:92.06, Y:35.70, Z:0.56 [[ 7.49579947e-01 -6.61896635e-01 -4.76945957e-03 9.20604757e+01] [ 6.61884035e-01 7.49595115e-01 -4.08510524e-03 3.57039945e+01] [ 6.27908101e-03 -9.47161780e-05 9.99980282e-01 5.55205369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.361858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:92.08, Y:35.72, Z:0.56 [[ 7.50000557e-01 -6.61420145e-01 -4.74927753e-03 9.20839395e+01] [ 6.61407388e-01 7.50015592e-01 -4.10847512e-03 3.57232116e+01] [ 6.27946041e-03 -5.98486120e-05 9.99980282e-01 5.56393484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.391858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.10, Y:35.74, Z:0.56 [[ 7.48943091e-01 -6.62617143e-01 -4.77161167e-03 9.21023624e+01] [ 6.62604574e-01 7.48958284e-01 -4.08261310e-03 3.57422678e+01] [ 6.27894752e-03 -1.04046840e-04 9.99980282e-01 5.55039967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421858064 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:92.13, Y:35.76, Z:0.56 [[ 7.50808658e-01 -6.60502736e-01 -4.74290453e-03 9.21310177e+01] [ 6.60489914e-01 7.50823637e-01 -4.11581123e-03 3.57615805e+01] [ 6.27958940e-03 -4.24538942e-05 9.99980282e-01 5.56268813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.451858064 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:92.15, Y:35.78, Z:0.56 [[ 7.50001491e-01 -6.61418571e-01 -4.82060256e-03 9.21528064e+01] [ 6.61406340e-01 7.50016964e-01 -4.02587042e-03 3.57813119e+01] [ 6.27831916e-03 -1.68968283e-04 9.99980277e-01 5.57347520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.481858064 meters Centerline goodness : 0.995709 Centerline is valid? [True, True] Translation: X:92.18, Y:35.80, Z:0.56 [[ 7.50238264e-01 -6.61150047e-01 -4.81276439e-03 9.21752419e+01] [ 6.61137753e-01 7.50253685e-01 -4.03494002e-03 3.58000558e+01] [ 6.27849500e-03 -1.54733841e-04 9.99980278e-01 5.58212153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.511858064 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:92.20, Y:35.82, Z:0.56 [[ 7.49998481e-01 -6.61422016e-01 -4.81619031e-03 9.21983398e+01] [ 6.61409752e-01 7.50013927e-01 -4.03097672e-03 3.58197783e+01] [ 6.27838655e-03 -1.62248820e-04 9.99980278e-01 5.58013771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.541858064 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:92.22, Y:35.84, Z:0.56 [[ 7.49654552e-01 -6.61811602e-01 -4.84322389e-03 9.22176074e+01] [ 6.61799548e-01 7.49670168e-01 -3.99968757e-03 3.58384207e+01] [ 6.27786011e-03 -2.06859385e-04 9.99980273e-01 5.58435805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.571858064 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:92.24, Y:35.86, Z:0.56 [[ 7.50493246e-01 -6.60860558e-01 -4.81770711e-03 9.22373720e+01] [ 6.60848294e-01 7.50508693e-01 -4.02918370e-03 3.58574139e+01] [ 6.27845965e-03 -1.59898367e-04 9.99980277e-01 5.58764063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.25, Y:35.87, Z:0.56 [[ 7.50815590e-01 -6.60494533e-01 -4.78770720e-03 9.22530745e+01] [ 6.60482041e-01 7.50830847e-01 -4.06370666e-03 3.58737466e+01] [ 6.27881428e-03 -1.11100304e-04 9.99980282e-01 5.59405163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.631858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:92.27, Y:35.89, Z:0.56 [[ 7.51396283e-01 -6.59834385e-01 -4.71275571e-03 9.22734480e+01] [ 6.59821334e-01 7.51411062e-01 -4.15007030e-03 3.58938291e+01] [ 6.27957585e-03 8.77064011e-06 9.99980283e-01 5.57549907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.661858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:92.29, Y:35.91, Z:0.56 [[ 7.51980930e-01 -6.59167982e-01 -4.71730217e-03 9.22947057e+01] [ 6.59154950e-01 7.51995726e-01 -4.14483601e-03 3.59128173e+01] [ 6.27953426e-03 7.40456142e-06 9.99980284e-01 5.57886168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.691858064 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:92.32, Y:35.93, Z:0.56 [[ 7.51479600e-01 -6.59739451e-01 -4.71881732e-03 9.23192661e+01] [ 6.59726442e-01 7.51494415e-01 -4.14309524e-03 3.59340837e+01] [ 6.27952824e-03 3.22992503e-07 9.99980284e-01 5.55778683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.721858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.34, Y:35.95, Z:0.56 [[ 7.49822467e-01 -6.61621803e-01 -4.78096457e-03 9.23366245e+01] [ 6.61609284e-01 7.49837701e-01 -4.07164514e-03 3.59538615e+01] [ 6.27883668e-03 -1.10119540e-04 9.99980282e-01 5.57329452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:35.97, Z:0.56 [[ 7.49839794e-01 -6.61602465e-01 -4.73945627e-03 9.23578300e+01] [ 6.61589642e-01 7.49854770e-01 -4.11927361e-03 3.59724005e+01] [ 6.27922547e-03 -4.67799073e-05 9.99980284e-01 5.58369155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:35.99, Z:0.56 [[ 7.49543860e-01 -6.61937773e-01 -4.73137732e-03 9.23782913e+01] [ 6.61924899e-01 7.49558792e-01 -4.12853837e-03 3.59912055e+01] [ 6.27928097e-03 -3.72958662e-05 9.99980284e-01 5.58818452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.40, Y:36.01, Z:0.56 [[ 7.50266069e-01 -6.61119151e-01 -4.72159664e-03 9.24011345e+01] [ 6.61106190e-01 7.50280926e-01 -4.13974913e-03 3.60085534e+01] [ 6.27939133e-03 -1.55634571e-05 9.99980284e-01 5.62794092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.42, Y:36.03, Z:0.56 [[ 7.48607187e-01 -6.62996901e-01 -4.73166177e-03 9.24217914e+01] [ 6.62984051e-01 7.48622139e-01 -4.12821271e-03 3.60284884e+01] [ 6.27921899e-03 -4.66065805e-05 9.99980284e-01 5.59939032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.871858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:92.44, Y:36.05, Z:0.56 [[ 7.46153616e-01 -6.65756960e-01 -4.73832518e-03 9.24390358e+01] [ 6.65744213e-01 7.46168656e-01 -4.12057959e-03 3.60474850e+01] [ 6.27889427e-03 -7.99272042e-05 9.99980284e-01 5.57949245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.901858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.46, Y:36.07, Z:0.56 [[ 7.46516175e-01 -6.65350638e-01 -4.70410744e-03 9.24636448e+01] [ 6.65337635e-01 7.46530996e-01 -4.15974842e-03 3.60658527e+01] [ 6.27945328e-03 -2.45002416e-05 9.99980284e-01 5.59922694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.49, Y:36.08, Z:0.56 [[ 7.44604819e-01 -6.67488735e-01 -4.73845793e-03 9.24862784e+01] [ 6.67476024e-01 7.44619889e-01 -4.12041579e-03 3.60848381e+01] [ 6.27868114e-03 -9.47256027e-05 9.99980284e-01 5.59971076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.961858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:92.51, Y:36.10, Z:0.56 [[ 7.43876763e-01 -6.68299969e-01 -4.74471648e-03 9.25068502e+01] [ 6.68287320e-01 7.43891887e-01 -4.11325314e-03 3.61029021e+01] [ 6.27844303e-03 -1.11080429e-04 9.99980284e-01 5.59495254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.991858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:92.53, Y:36.12, Z:0.56 [[ 7.43191345e-01 -6.69062106e-01 -4.74576888e-03 9.25255284e+01] [ 6.69049480e-01 7.43206488e-01 -4.11204861e-03 3.61208919e+01] [ 6.27830213e-03 -1.19115264e-04 9.99980284e-01 5.60688490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:36.14, Z:0.56 [[ 7.42191249e-01 -6.70171472e-01 -4.72746932e-03 9.25461303e+01] [ 6.70158735e-01 7.42206298e-01 -4.13298039e-03 3.61403589e+01] [ 6.27856305e-03 -1.00692987e-04 9.99980285e-01 5.58411630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:36.16, Z:0.56 [[ 7.42219525e-01 -6.70140162e-01 -4.72651229e-03 9.25680064e+01] [ 6.70127418e-01 7.42234567e-01 -4.13407447e-03 3.61592226e+01] [ 6.27859014e-03 -9.89746855e-05 9.99980285e-01 5.58207727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.081858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.59, Y:36.18, Z:0.56 [[ 7.42966781e-01 -6.69311578e-01 -4.73020317e-03 9.25896011e+01] [ 6.69298843e-01 7.42981832e-01 -4.12985676e-03 3.61776839e+01] [ 6.27861596e-03 -9.75731346e-05 9.99980285e-01 5.60046986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.61, Y:36.20, Z:0.56 [[ 7.43743665e-01 -6.68448231e-01 -4.72477032e-03 9.26101044e+01] [ 6.68435440e-01 7.43758667e-01 -4.13606290e-03 3.61958967e+01] [ 6.27883281e-03 -8.20333461e-05 9.99980285e-01 5.59861365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.63, Y:36.21, Z:0.56 [[ 7.44185404e-01 -6.67956410e-01 -4.72427529e-03 9.26313730e+01] [ 6.67943605e-01 7.44200395e-01 -4.13662825e-03 3.62145860e+01] [ 6.27889489e-03 -7.71311107e-05 9.99980285e-01 5.59939163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.65, Y:36.23, Z:0.56 [[ 7.45077208e-01 -6.66961503e-01 -4.72315492e-03 9.26520906e+01] [ 6.66948670e-01 7.45092175e-01 -4.13790708e-03 3.62323170e+01] [ 6.27901050e-03 -6.70416420e-05 9.99980285e-01 5.60533144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:36.25, Z:0.56 [[ 7.45791983e-01 -6.66162156e-01 -4.72239374e-03 9.26730391e+01] [ 6.66149301e-01 7.45806931e-01 -4.13877560e-03 3.62505676e+01] [ 6.27908966e-03 -5.91536279e-05 9.99980285e-01 5.60693094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:36.27, Z:0.56 [[ 7.48740690e-01 -6.62846203e-01 -4.72128426e-03 9.26978459e+01] [ 6.62833275e-01 7.48755574e-01 -4.14004084e-03 3.62686478e+01] [ 6.27929826e-03 -2.96072737e-05 9.99980285e-01 5.61363363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.261858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.72, Y:36.29, Z:0.56 [[ 7.49863683e-01 -6.61575347e-01 -4.74514125e-03 9.27177240e+01] [ 6.61562565e-01 7.49878695e-01 -4.11283397e-03 3.62856353e+01] [ 6.27922989e-03 -5.51429893e-05 9.99980284e-01 5.61435109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.74, Y:36.31, Z:0.56 [[ 7.49585718e-01 -6.61890396e-01 -4.72814839e-03 9.27388481e+01] [ 6.61877498e-01 7.49600629e-01 -4.13219252e-03 3.63056446e+01] [ 6.27928155e-03 -3.20225295e-05 9.99980285e-01 5.60517222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.76, Y:36.32, Z:0.56 [[ 7.51069042e-01 -6.60206725e-01 -4.73024656e-03 9.27581962e+01] [ 6.60193808e-01 7.51083937e-01 -4.12980298e-03 3.63229566e+01] [ 6.27933591e-03 -2.11123256e-05 9.99980285e-01 5.61361861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:36.34, Z:0.56 [[ 7.50888262e-01 -6.60412420e-01 -4.71730142e-03 9.27796068e+01] [ 6.60399415e-01 7.50903080e-01 -4.14453712e-03 3.63418865e+01] [ 6.27933995e-03 -3.21881916e-06 9.99980285e-01 5.61534428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.381858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.80, Y:36.36, Z:0.56 [[ 7.52405764e-01 -6.58683023e-01 -4.71616635e-03 9.28046833e+01] [ 6.58669976e-01 7.52420544e-01 -4.14582833e-03 3.63601733e+01] [ 6.27932719e-03 1.29479571e-05 9.99980285e-01 5.62188984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.411858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:92.82, Y:36.38, Z:0.56 [[ 7.52703809e-01 -6.58342208e-01 -4.74484578e-03 9.28248561e+01] [ 6.58329359e-01 7.52718763e-01 -4.11320845e-03 3.63774067e+01] [ 6.27943318e-03 -2.76436151e-05 9.99980284e-01 5.61467022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.441858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.85, Y:36.40, Z:0.56 [[ 7.51860726e-01 -6.59304942e-01 -4.73735695e-03 9.28455571e+01] [ 6.59292059e-01 7.51875650e-01 -4.12171997e-03 3.63956598e+01] [ 6.27937368e-03 -2.43424477e-05 9.99980284e-01 5.60373434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.471858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.87, Y:36.41, Z:0.56 [[ 7.52419337e-01 -6.58667502e-01 -4.71845409e-03 9.28666966e+01] [ 6.58654471e-01 7.52434131e-01 -4.14318854e-03 3.64124278e+01] [ 6.27930955e-03 9.58429509e-06 9.99980285e-01 5.60833550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:92.89, Y:36.43, Z:0.56 [[ 7.52987473e-01 -6.58017936e-01 -4.71829397e-03 9.28875807e+01] [ 6.58004891e-01 7.53002255e-01 -4.14337037e-03 3.64301814e+01] [ 6.27929801e-03 1.52454714e-05 9.99980285e-01 5.61321134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.531858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.91, Y:36.45, Z:0.56 [[ 7.53117389e-01 -6.57869287e-01 -4.71161063e-03 9.29089127e+01] [ 6.57856192e-01 7.53132127e-01 -4.15095640e-03 3.64478517e+01] [ 6.27925206e-03 2.65952203e-05 9.99980285e-01 5.61216083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.93, Y:36.47, Z:0.56 [[ 7.52516450e-01 -6.58556607e-01 -4.71044257e-03 9.29308279e+01] [ 6.58543517e-01 7.52531192e-01 -4.15228147e-03 3.64656796e+01] [ 6.27926736e-03 2.26286975e-05 9.99980285e-01 5.59956575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.95, Y:36.48, Z:0.56 [[ 7.53399738e-01 -6.57545936e-01 -4.70924518e-03 9.29528430e+01] [ 6.57532818e-01 7.53414455e-01 -4.15363903e-03 3.64817900e+01] [ 6.27922185e-03 3.28673002e-05 9.99980285e-01 5.60713128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.97, Y:36.50, Z:0.56 [[ 7.54492175e-01 -6.56292150e-01 -4.70872756e-03 9.29727586e+01] [ 6.56279003e-01 7.54506867e-01 -4.15422574e-03 3.64976877e+01] [ 6.27915302e-03 4.40917799e-05 9.99980285e-01 5.62064762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.00, Y:36.51, Z:0.56 [[ 7.54570030e-01 -6.56202884e-01 -4.67396044e-03 9.29952954e+01] [ 6.56189491e-01 7.54584499e-01 -4.19357059e-03 3.65136537e+01] [ 6.27873121e-03 9.73389618e-05 9.99980284e-01 5.61033744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.681858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:93.02, Y:36.53, Z:0.56 [[ 7.53153103e-01 -6.57828659e-01 -4.67538077e-03 9.30196966e+01] [ 6.57815308e-01 7.53167610e-01 -4.19196069e-03 3.65333830e+01] [ 6.27893724e-03 8.16511623e-05 9.99980284e-01 5.58571009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.711858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.04, Y:36.55, Z:0.56 [[ 7.52732590e-01 -6.58309559e-01 -4.70879511e-03 9.30414053e+01] [ 6.58296453e-01 7.52747317e-01 -4.15408442e-03 3.65507642e+01] [ 6.27920637e-03 2.71316091e-05 9.99980285e-01 5.57804654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.741858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.06, Y:36.57, Z:0.56 [[ 7.52553532e-01 -6.58514252e-01 -4.70760539e-03 9.30635476e+01] [ 6.58501141e-01 7.52568256e-01 -4.15543223e-03 3.65681986e+01] [ 6.27920572e-03 2.72216867e-05 9.99980285e-01 5.58350172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.771858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.09, Y:36.58, Z:0.56 [[ 7.51995384e-01 -6.59151590e-01 -4.70360009e-03 9.30859061e+01] [ 6.59138463e-01 7.52010094e-01 -4.15996779e-03 3.65848727e+01] [ 6.27920413e-03 2.79528445e-05 9.99980285e-01 5.57998890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.11, Y:36.60, Z:0.56 [[ 7.51255730e-01 -6.59994455e-01 -4.70607315e-03 9.31102837e+01] [ 6.59981363e-01 7.51270470e-01 -4.15716819e-03 3.66004207e+01] [ 6.27924175e-03 1.71758531e-05 9.99980285e-01 5.58803416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.13, Y:36.62, Z:0.56 [[ 7.50651525e-01 -6.60681581e-01 -4.70489774e-03 9.31327088e+01] [ 6.60668494e-01 7.50666269e-01 -4.15849805e-03 3.66179908e+01] [ 6.27925110e-03 1.32051955e-05 9.99980285e-01 5.59229899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.861858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.15, Y:36.63, Z:0.56 [[ 7.50228115e-01 -6.61162348e-01 -4.70372570e-03 9.31539138e+01] [ 6.61149261e-01 7.50242861e-01 -4.15982334e-03 3.66345874e+01] [ 6.27925519e-03 1.09516483e-05 9.99980285e-01 5.59658118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:36.65, Z:0.56 [[ 7.48933132e-01 -6.62628889e-01 -4.70321674e-03 9.31761092e+01] [ 6.62615828e-01 7.48947899e-01 -4.16039870e-03 3.66511568e+01] [ 6.27926467e-03 -5.65424517e-07 9.99980285e-01 5.59453266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.20, Y:36.67, Z:0.56 [[ 7.47969463e-01 -6.63716485e-01 -4.70207639e-03 9.31981978e+01] [ 6.63703438e-01 7.47984243e-01 -4.16168713e-03 3.66691947e+01] [ 6.27925940e-03 -7.96937712e-06 9.99980285e-01 5.59600644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.951858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.22, Y:36.69, Z:0.56 [[ 7.46871248e-01 -6.64952058e-01 -4.70091902e-03 9.32203829e+01] [ 6.64939027e-01 7.46886042e-01 -4.16299404e-03 3.66868139e+01] [ 6.27924226e-03 -1.66039622e-05 9.99980285e-01 5.59657779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:36.70, Z:0.56 [[ 7.42609882e-01 -6.69707753e-01 -4.69976865e-03 9.32396389e+01] [ 6.69694809e-01 7.42624752e-01 -4.16429234e-03 3.67029122e+01] [ 6.27902339e-03 -5.49660256e-05 9.99980285e-01 5.58549581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.011858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.26, Y:36.72, Z:0.56 [[ 7.41340904e-01 -6.71112463e-01 -4.66118757e-03 9.32614699e+01] [ 6.71099271e-01 7.41355557e-01 -4.20783739e-03 3.67207571e+01] [ 6.27952942e-03 -8.67760876e-06 9.99980284e-01 5.58952632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:36.74, Z:0.56 [[ 7.42464888e-01 -6.69868801e-01 -4.65612353e-03 9.32875182e+01] [ 6.69855549e-01 7.42479488e-01 -4.21355096e-03 3.67376421e+01] [ 6.27960254e-03 9.48345737e-06 9.99980283e-01 5.60628510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.071858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:93.31, Y:36.75, Z:0.56 [[ 7.40340077e-01 -6.72216097e-01 -4.69994404e-03 9.33096535e+01] [ 6.72203204e-01 7.40354992e-01 -4.16409146e-03 3.67548168e+01] [ 6.27879634e-03 -7.64736486e-05 9.99980285e-01 5.60293190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:36.77, Z:0.56 [[ 7.39595117e-01 -6.73035648e-01 -4.69877071e-03 9.33310360e+01] [ 6.73022763e-01 7.39610039e-01 -4.16541503e-03 3.67725011e+01] [ 6.27873079e-03 -8.16590349e-05 9.99980285e-01 5.60145406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.131858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.35, Y:36.79, Z:0.56 [[ 7.39201988e-01 -6.73467411e-01 -4.69760301e-03 9.33529486e+01] [ 6.73454526e-01 7.39216909e-01 -4.16673150e-03 3.67904245e+01] [ 6.27870546e-03 -8.35657973e-05 9.99980285e-01 5.60417380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.161858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.37, Y:36.81, Z:0.56 [[ 7.39127513e-01 -6.73549154e-01 -4.69644087e-03 9.33746354e+01] [ 6.73536263e-01 7.39142429e-01 -4.16804097e-03 3.68073222e+01] [ 6.27871918e-03 -8.25094764e-05 9.99980285e-01 5.59590412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:36.82, Z:0.56 [[ 7.39489686e-01 -6.73151508e-01 -4.69593742e-03 9.33951230e+01] [ 6.73138605e-01 7.39504592e-01 -4.16860811e-03 3.68245417e+01] [ 6.27877212e-03 -7.83740599e-05 9.99980285e-01 5.59215349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:36.84, Z:0.56 [[ 7.37508739e-01 -6.75321267e-01 -4.69529825e-03 9.34107226e+01] [ 6.75308403e-01 7.37523679e-01 -4.16932791e-03 3.68427983e+01] [ 6.27852945e-03 -9.58585957e-05 9.99980285e-01 5.57322253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.251858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:93.44, Y:36.86, Z:0.56 [[ 7.41647607e-01 -6.70773637e-01 -4.64270636e-03 9.34386111e+01] [ 6.70760309e-01 7.41662139e-01 -4.22849225e-03 3.68598770e+01] [ 6.27968065e-03 2.19080088e-05 9.99980282e-01 5.58486559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.46, Y:36.88, Z:0.56 [[ 7.42542401e-01 -6.69782612e-01 -4.69409472e-03 9.34590450e+01] [ 6.69769629e-01 7.42557237e-01 -4.17065440e-03 3.68780256e+01] [ 6.27906580e-03 -4.70743461e-05 9.99980285e-01 5.58421036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:36.90, Z:0.56 [[ 7.43323960e-01 -6.68915137e-01 -4.69358694e-03 9.34794738e+01] [ 6.68902133e-01 7.43338777e-01 -4.17122577e-03 3.68959772e+01] [ 6.27912123e-03 -3.89782538e-05 9.99980285e-01 5.58606942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.50, Y:36.91, Z:0.56 [[ 7.44922743e-01 -6.67134233e-01 -4.69280324e-03 9.35004683e+01] [ 6.67121187e-01 7.44937524e-01 -4.17210727e-03 3.69127505e+01] [ 6.27920081e-03 -2.27708736e-05 9.99980285e-01 5.59631104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.52, Y:36.93, Z:0.56 [[ 7.45684820e-01 -6.66282322e-01 -4.69217425e-03 9.35217435e+01] [ 6.66269255e-01 7.45699582e-01 -4.17281455e-03 3.69304283e+01] [ 6.27922495e-03 -1.46469738e-05 9.99980285e-01 5.60208965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:36.95, Z:0.56 [[ 7.46516944e-01 -6.65349868e-01 -4.69101561e-03 9.35426132e+01] [ 6.65336774e-01 7.46531683e-01 -4.17411667e-03 3.69479950e+01] [ 6.27923975e-03 -5.05637442e-06 9.99980285e-01 5.60029468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.56, Y:36.97, Z:0.56 [[ 7.47357602e-01 -6.64405459e-01 -4.69051229e-03 9.35630002e+01] [ 6.64392343e-01 7.47372321e-01 -4.17468218e-03 3.69650800e+01] [ 6.27924069e-03 3.64000781e-06 9.99980285e-01 5.59789387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:36.98, Z:0.56 [[ 7.49057696e-01 -6.62488168e-01 -4.68988134e-03 9.35853888e+01] [ 6.62475010e-01 7.49072378e-01 -4.17539087e-03 3.69823768e+01] [ 6.27920762e-03 2.06794806e-05 9.99980285e-01 5.59493145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.61, Y:37.00, Z:0.56 [[ 7.49582563e-01 -6.61894248e-01 -4.68875339e-03 9.36073375e+01] [ 6.61881071e-01 7.49597227e-01 -4.17665712e-03 3.70005806e+01] [ 6.27918187e-03 2.73522320e-05 9.99980285e-01 5.59577514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.521858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:37.02, Z:0.56 [[ 7.49984675e-01 -6.61438593e-01 -4.68762629e-03 9.36287648e+01] [ 6.61425399e-01 7.49999324e-01 -4.17792173e-03 3.70186999e+01] [ 6.27915522e-03 3.28621802e-05 9.99980285e-01 5.60062084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.65, Y:37.04, Z:0.56 [[ 7.50451563e-01 -6.60908835e-01 -4.68646046e-03 9.36504974e+01] [ 6.60895622e-01 7.50466195e-01 -4.17922905e-03 3.70367011e+01] [ 6.27911956e-03 3.90477690e-05 9.99980285e-01 5.60155672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.67, Y:37.05, Z:0.56 [[ 7.50502100e-01 -6.60851455e-01 -4.68528918e-03 9.36710263e+01] [ 6.60838234e-01 7.50516723e-01 -4.18054176e-03 3.70539949e+01] [ 6.27910499e-03 4.12871435e-05 9.99980285e-01 5.60432313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.69, Y:37.07, Z:0.56 [[ 7.50207088e-01 -6.61186341e-01 -4.68478112e-03 9.36925397e+01] [ 6.61173122e-01 7.50221715e-01 -4.18111101e-03 3.70718391e+01] [ 6.27911802e-03 3.92477580e-05 9.99980285e-01 5.61076641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:37.09, Z:0.56 [[ 7.49827585e-01 -6.61616700e-01 -4.68360745e-03 9.37141633e+01] [ 6.61603481e-01 7.49842211e-01 -4.18242533e-03 3.70901720e+01] [ 6.27912901e-03 3.74068897e-05 9.99980285e-01 5.61953050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.74, Y:37.11, Z:0.56 [[ 7.49278681e-01 -6.62238276e-01 -4.68242009e-03 9.37352708e+01] [ 6.62225061e-01 7.49293310e-01 -4.18375421e-03 3.71076404e+01] [ 6.27914822e-03 3.39819030e-05 9.99980285e-01 5.61642378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.76, Y:37.13, Z:0.56 [[ 7.48778489e-01 -6.62803782e-01 -4.68190757e-03 9.37562558e+01] [ 6.62790575e-01 7.48793126e-01 -4.18432768e-03 3.71260712e+01] [ 6.27916841e-03 3.00103484e-05 9.99980285e-01 5.61338286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:37.14, Z:0.56 [[ 7.48073697e-01 -6.63599152e-01 -4.68074574e-03 9.37773554e+01] [ 6.63585952e-01 7.48088341e-01 -4.18562694e-03 3.71445139e+01] [ 6.27918980e-03 2.50803094e-05 9.99980285e-01 5.60897086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:37.16, Z:0.56 [[ 7.47538115e-01 -6.64202430e-01 -4.67956417e-03 9.37977247e+01] [ 6.64189233e-01 7.47552762e-01 -4.18694753e-03 3.71617575e+01] [ 6.27920184e-03 2.17867258e-05 9.99980285e-01 5.60394161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.82, Y:37.18, Z:0.56 [[ 7.46013112e-01 -6.65914817e-01 -4.67905257e-03 9.38199467e+01] [ 6.65901651e-01 7.46027785e-01 -4.18751917e-03 3.71798019e+01] [ 6.27923429e-03 8.15537590e-06 9.99980285e-01 5.61232887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.84, Y:37.20, Z:0.56 [[ 7.44952289e-01 -6.67101344e-01 -4.67797094e-03 9.38409896e+01] [ 6.67088193e-01 7.44966977e-01 -4.18872714e-03 3.71984471e+01] [ 6.27923938e-03 -2.17315299e-07 9.99980285e-01 5.61607410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.851858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.86, Y:37.22, Z:0.56 [[ 7.43048131e-01 -6.69221639e-01 -4.67681831e-03 9.38624691e+01] [ 6.69208522e-01 7.43062849e-01 -4.19001369e-03 3.72170220e+01] [ 6.27921777e-03 -1.63848270e-05 9.99980285e-01 5.62852473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.881858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:93.88, Y:37.24, Z:0.56 [[ 7.41894548e-01 -6.70500274e-01 -4.67567406e-03 9.38823629e+01] [ 6.70487174e-01 7.41909282e-01 -4.19129018e-03 3.72351393e+01] [ 6.27918720e-03 -2.54841597e-05 9.99980285e-01 5.63434102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:37.25, Z:0.56 [[ 7.40741458e-01 -6.71773947e-01 -4.67502980e-03 9.39029141e+01] [ 6.71760869e-01 7.40756210e-01 -4.19200867e-03 3.72539514e+01] [ 6.27913957e-03 -3.53074650e-05 9.99980285e-01 5.63852533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.92, Y:37.27, Z:0.56 [[ 7.38204762e-01 -6.74560511e-01 -4.67389216e-03 9.39226465e+01] [ 6.74547480e-01 7.38219556e-01 -4.19327671e-03 3.72718502e+01] [ 6.27897747e-03 -5.72653406e-05 9.99980285e-01 5.64452847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.971858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:93.94, Y:37.29, Z:0.57 [[ 7.36734101e-01 -6.76166419e-01 -4.67311447e-03 9.39433741e+01] [ 6.76153415e-01 7.36748918e-01 -4.19414321e-03 3.72904396e+01] [ 6.27885082e-03 -6.97739798e-05 9.99980285e-01 5.65220097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:37.31, Z:0.57 [[ 7.35195071e-01 -6.77839495e-01 -4.67194099e-03 9.39645337e+01] [ 6.77826516e-01 7.35209910e-01 -4.19544996e-03 3.73093735e+01] [ 6.27869900e-03 -8.22913530e-05 9.99980285e-01 5.65526263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:37.33, Z:0.57 [[ 7.32506100e-01 -6.80744444e-01 -4.67076986e-03 9.39845577e+01] [ 6.80731515e-01 7.32520984e-01 -4.19675337e-03 3.73285655e+01] [ 6.27835347e-03 -1.05392802e-04 9.99980285e-01 5.66060066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:37.35, Z:0.57 [[ 7.31116230e-01 -6.82236948e-01 -4.66960345e-03 9.40046961e+01] [ 6.82224042e-01 7.31131133e-01 -4.19805080e-03 3.73481299e+01] [ 6.27815782e-03 -1.16452659e-04 9.99980285e-01 5.66483152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:37.37, Z:0.57 [[ 7.30101339e-01 -6.83322940e-01 -4.66843201e-03 9.40238710e+01] [ 6.83310048e-01 7.30116254e-01 -4.19935310e-03 3.73670726e+01] [ 6.27801239e-03 -1.24033180e-04 9.99980285e-01 5.66820317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.04, Y:37.39, Z:0.57 [[ 7.29142586e-01 -6.84345893e-01 -4.66777682e-03 9.40440708e+01] [ 6.84333017e-01 7.29157514e-01 -4.20008124e-03 3.73869528e+01] [ 6.27785289e-03 -1.31855706e-04 9.99980285e-01 5.67071263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:37.41, Z:0.57 [[ 7.28659101e-01 -6.84860670e-01 -4.66661774e-03 9.40632098e+01] [ 6.84847796e-01 7.28674032e-01 -4.20136867e-03 3.74064623e+01] [ 6.27779533e-03 -1.34557351e-04 9.99980285e-01 5.68294817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.08, Y:37.43, Z:0.57 [[ 7.28607053e-01 -6.84916047e-01 -4.66596571e-03 9.40836110e+01] [ 6.84903170e-01 7.28621981e-01 -4.20209268e-03 3.74261718e+01] [ 6.27780589e-03 -1.34060340e-04 9.99980285e-01 5.69380143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:37.45, Z:0.57 [[ 7.28518749e-01 -6.85009979e-01 -4.66480607e-03 9.41033607e+01] [ 6.84997096e-01 7.28533671e-01 -4.20337962e-03 3.74458833e+01] [ 6.27782528e-03 -1.33137749e-04 9.99980285e-01 5.69731233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:37.47, Z:0.57 [[ 7.29590320e-01 -6.83868566e-01 -4.66363343e-03 9.41217307e+01] [ 6.83855651e-01 7.29605215e-01 -4.20468026e-03 3.74659998e+01] [ 6.27805993e-03 -1.21558065e-04 9.99980285e-01 5.69555462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:37.49, Z:0.57 [[ 7.29401288e-01 -6.84070185e-01 -4.66298778e-03 9.41429154e+01] [ 6.84057269e-01 7.29416182e-01 -4.20539616e-03 3.74852076e+01] [ 6.27804488e-03 -1.22329316e-04 9.99980285e-01 5.69734633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.16, Y:37.51, Z:0.57 [[ 7.30270606e-01 -6.83142086e-01 -4.66182514e-03 9.41626367e+01] [ 6.83129143e-01 7.30285477e-01 -4.20668459e-03 3.75050463e+01] [ 6.27822648e-03 -1.12610508e-04 9.99980285e-01 5.69545261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.331858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:94.19, Y:37.53, Z:0.57 [[ 7.31915454e-01 -6.81379517e-01 -4.66064458e-03 9.41855987e+01] [ 6.81366530e-01 7.31930286e-01 -4.20799214e-03 3.75256020e+01] [ 6.27850658e-03 -9.57127462e-05 9.99980285e-01 5.67383106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:37.55, Z:0.57 [[ 7.33668439e-01 -6.79491487e-01 -4.68404022e-03 9.42012167e+01] [ 6.79478627e-01 7.33683383e-01 -4.18207578e-03 3.75467255e+01] [ 6.27828736e-03 -1.14448199e-04 9.99980285e-01 5.69275649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:37.57, Z:0.57 [[ 7.34772212e-01 -6.78297934e-01 -4.65928515e-03 9.42211914e+01] [ 6.78284876e-01 7.34786981e-01 -4.20947609e-03 3.75672634e+01] [ 6.27886101e-03 -6.73165984e-05 9.99980285e-01 5.69296204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:37.59, Z:0.57 [[ 7.35606875e-01 -6.77392669e-01 -4.65810005e-03 9.42407695e+01] [ 6.77379584e-01 7.35621621e-01 -4.21078708e-03 3.75873290e+01] [ 6.27895541e-03 -5.78179523e-05 9.99980285e-01 5.69452371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.451858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.26, Y:37.61, Z:0.57 [[ 7.36374842e-01 -6.76557762e-01 -4.65692407e-03 9.42604140e+01] [ 6.76544652e-01 7.36389565e-01 -4.21208726e-03 3.76067667e+01] [ 6.27903062e-03 -4.89419872e-05 9.99980285e-01 5.69363695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:37.63, Z:0.57 [[ 7.37345608e-01 -6.75499650e-01 -4.65575368e-03 9.42789818e+01] [ 6.75486511e-01 7.37360306e-01 -4.21338053e-03 3.76260281e+01] [ 6.27910503e-03 -3.81811809e-05 9.99980285e-01 5.69908551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.511858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:94.30, Y:37.65, Z:0.57 [[ 7.37563308e-01 -6.75261946e-01 -4.65524635e-03 9.42994875e+01] [ 6.75248798e-01 7.37577998e-01 -4.21394099e-03 3.76457779e+01] [ 6.27912128e-03 -3.54012416e-05 9.99980285e-01 5.71167886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:37.67, Z:0.57 [[ 7.37319794e-01 -6.75527823e-01 -4.65632238e-03 9.43194095e+01] [ 6.75514689e-01 7.37334496e-01 -4.21275247e-03 3.76651166e+01] [ 6.27909862e-03 -3.92683774e-05 9.99980285e-01 5.71207058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:37.68, Z:0.57 [[ 7.37744497e-01 -6.75063922e-01 -4.66456367e-03 9.43392704e+01] [ 6.75050835e-01 7.37759242e-01 -4.20365146e-03 3.76845715e+01] [ 6.27905839e-03 -4.75968704e-05 9.99980285e-01 5.71417564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.36, Y:37.70, Z:0.57 [[ 7.38339974e-01 -6.74412655e-01 -4.65338926e-03 9.43577342e+01] [ 6.74399477e-01 7.38354637e-01 -4.21598520e-03 3.77044129e+01] [ 6.27916531e-03 -2.54128818e-05 9.99980286e-01 5.70725510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.631858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:94.38, Y:37.73, Z:0.57 [[ 7.38314380e-01 -6.74440679e-01 -4.65261010e-03 9.43790200e+01] [ 6.74427496e-01 7.38329039e-01 -4.21684488e-03 3.77251112e+01] [ 6.27916887e-03 -2.44909673e-05 9.99980286e-01 5.71004970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.661858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.40, Y:37.74, Z:0.57 [[ 7.38850563e-01 -6.73853184e-01 -4.66172743e-03 9.43985936e+01] [ 6.73840053e-01 7.38865269e-01 -4.20678705e-03 3.77445782e+01] [ 6.27914534e-03 -3.30716744e-05 9.99980285e-01 5.69947082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:37.76, Z:0.57 [[ 7.39768702e-01 -6.72845178e-01 -4.65119502e-03 9.44172842e+01] [ 6.72831954e-01 7.39783324e-01 -4.21840005e-03 3.77645398e+01] [ 6.27920665e-03 -8.83230969e-06 9.99980286e-01 5.69475787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.721858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.44, Y:37.78, Z:0.57 [[ 7.40038653e-01 -6.72548262e-01 -4.65058345e-03 9.44374837e+01] [ 6.72535028e-01 7.40053266e-01 -4.21907417e-03 3.77841904e+01] [ 6.27921047e-03 -5.40230408e-06 9.99980286e-01 5.69433081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.751858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.46, Y:37.80, Z:0.57 [[ 7.40252667e-01 -6.72312704e-01 -4.64947553e-03 9.44567427e+01] [ 6.72299457e-01 7.40267268e-01 -4.22029476e-03 3.78035095e+01] [ 6.27921233e-03 -1.75542263e-06 9.99980286e-01 5.69317159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.48, Y:37.82, Z:0.57 [[ 7.39866446e-01 -6.72737713e-01 -4.64887307e-03 9.44762649e+01] [ 6.72724471e-01 7.39881051e-01 -4.22095830e-03 3.78219488e+01] [ 6.27921092e-03 -4.46526085e-06 9.99980286e-01 5.69285371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.811858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.50, Y:37.84, Z:0.57 [[ 7.39214151e-01 -6.73454403e-01 -4.64828342e-03 9.44966873e+01] [ 6.73441171e-01 7.39228765e-01 -4.22160754e-03 3.78412020e+01] [ 6.27920500e-03 -9.67339013e-06 9.99980286e-01 5.69282306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:37.86, Z:0.57 [[ 7.37996886e-01 -6.74788115e-01 -4.64720483e-03 9.45167464e+01] [ 6.74774902e-01 7.38011518e-01 -4.22279453e-03 3.78599031e+01] [ 6.27918225e-03 -1.94079677e-05 9.99980286e-01 5.69492930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:37.88, Z:0.57 [[ 7.37186400e-01 -6.75673458e-01 -4.64647067e-03 9.45372597e+01] [ 6.75660258e-01 7.37201043e-01 -4.22360220e-03 3.78790448e+01] [ 6.27915893e-03 -2.58534740e-05 9.99980286e-01 5.70597085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.901858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.56, Y:37.90, Z:0.57 [[ 7.36208267e-01 -6.76739099e-01 -4.64531093e-03 9.45573490e+01] [ 6.76725912e-01 7.36222922e-01 -4.22487735e-03 3.78982123e+01] [ 6.27912408e-03 -3.32126449e-05 9.99980286e-01 5.70590516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:37.92, Z:0.57 [[ 7.33867295e-01 -6.79276987e-01 -4.64413940e-03 9.45763928e+01] [ 6.79263843e-01 7.33881987e-01 -4.22616474e-03 3.79168828e+01] [ 6.27898671e-03 -5.31518864e-05 9.99980286e-01 5.69931172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.961858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:94.60, Y:37.94, Z:0.57 [[ 7.32290717e-01 -6.80976318e-01 -4.64334633e-03 9.45975003e+01] [ 6.80963201e-01 7.32305435e-01 -4.22703593e-03 3.79361036e+01] [ 6.27885911e-03 -6.65288117e-05 9.99980286e-01 5.70646111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.991858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:94.62, Y:37.96, Z:0.57 [[ 7.30360588e-01 -6.83046017e-01 -4.64217981e-03 9.46182179e+01] [ 6.83032934e-01 7.30375337e-01 -4.22831662e-03 3.79551808e+01] [ 6.27866847e-03 -8.25658784e-05 9.99980286e-01 5.70856468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:37.97, Z:0.57 [[ 7.28398553e-01 -6.85137949e-01 -4.64101600e-03 9.46395280e+01] [ 6.85124901e-01 7.28413331e-01 -4.22959363e-03 3.79741526e+01] [ 6.27843303e-03 -9.88457459e-05 9.99980286e-01 5.71896840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:37.99, Z:0.57 [[ 7.24800121e-01 -6.88943580e-01 -4.63983261e-03 9.46603352e+01] [ 6.88930601e-01 7.24814960e-01 -4.23089140e-03 3.79926889e+01] [ 6.27786556e-03 -1.29972068e-04 9.99980286e-01 5.72441372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.081858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:94.68, Y:38.01, Z:0.57 [[ 7.23078010e-01 -6.90750805e-01 -4.63864410e-03 9.46801652e+01] [ 6.90737855e-01 7.23092874e-01 -4.23219406e-03 3.80109578e+01] [ 6.27756195e-03 -1.43880612e-04 9.99980286e-01 5.72355330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:38.03, Z:0.57 [[ 7.21598664e-01 -6.92296077e-01 -4.63783747e-03 9.47008429e+01] [ 6.92283153e-01 7.21613551e-01 -4.23307782e-03 3.80298947e+01] [ 6.27726953e-03 -1.56113447e-04 9.99980286e-01 5.72557270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:38.05, Z:0.57 [[ 7.20374529e-01 -6.93569780e-01 -4.63666648e-03 9.47213477e+01] [ 6.93556874e-01 7.20389431e-01 -4.23436006e-03 3.80484864e+01] [ 6.27702971e-03 -1.65466775e-04 9.99980286e-01 5.72992245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.171858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.74, Y:38.07, Z:0.57 [[ 7.18834675e-01 -6.95165608e-01 -4.63548176e-03 9.47418854e+01] [ 6.95152726e-01 7.18849599e-01 -4.23565662e-03 3.80674274e+01] [ 6.27669701e-03 -1.77630933e-04 9.99980286e-01 5.73277281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:38.09, Z:0.57 [[ 7.18700714e-01 -6.95304111e-01 -4.63428417e-03 9.47621934e+01] [ 6.95291224e-01 7.18715633e-01 -4.23696651e-03 3.80863772e+01] [ 6.27671272e-03 -1.77066255e-04 9.99980286e-01 5.73390207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.231858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:94.78, Y:38.11, Z:0.57 [[ 7.18831963e-01 -6.95168428e-01 -4.63309512e-03 9.47823682e+01] [ 6.95155530e-01 7.18846872e-01 -4.23826633e-03 3.81054480e+01] [ 6.27679488e-03 -1.74120385e-04 9.99980286e-01 5.73813886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.261858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:94.80, Y:38.12, Z:0.57 [[ 7.19847312e-01 -6.94116988e-01 -4.63189546e-03 9.48012820e+01] [ 6.94104060e-01 7.19862195e-01 -4.23957700e-03 3.81249766e+01] [ 6.27708885e-03 -1.63169340e-04 9.99980286e-01 5.73952290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.291858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.82, Y:38.14, Z:0.57 [[ 7.20435859e-01 -6.93506109e-01 -4.63137514e-03 9.48213056e+01] [ 6.93493164e-01 7.20450729e-01 -4.24014533e-03 3.81447380e+01] [ 6.27724428e-03 -1.57074261e-04 9.99980286e-01 5.74236039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.84, Y:38.16, Z:0.57 [[ 7.21166416e-01 -6.92746391e-01 -4.63019225e-03 9.48414249e+01] [ 6.92733423e-01 7.21181264e-01 -4.24143664e-03 3.81644545e+01] [ 6.27744783e-03 -1.48707271e-04 9.99980286e-01 5.74700055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:38.18, Z:0.57 [[ 7.22002203e-01 -6.91875293e-01 -4.62585866e-03 9.48611668e+01] [ 6.91862276e-01 7.22017009e-01 -4.24616563e-03 3.81843337e+01] [ 6.27776572e-03 -1.34716166e-04 9.99980286e-01 5.74537291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.381858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:94.88, Y:38.20, Z:0.58 [[ 7.22273386e-01 -6.91592171e-01 -4.62869248e-03 9.48817761e+01] [ 6.91579168e-01 7.22288205e-01 -4.24307426e-03 3.82038870e+01] [ 6.27772692e-03 -1.36447682e-04 9.99980286e-01 5.75182017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:38.22, Z:0.58 [[ 7.22440201e-01 -6.91417921e-01 -4.62753922e-03 9.49017846e+01] [ 6.91404907e-01 7.22455010e-01 -4.24433165e-03 3.82233965e+01] [ 6.27779586e-03 -1.33227511e-04 9.99980286e-01 5.75613777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.92, Y:38.24, Z:0.58 [[ 7.23405863e-01 -6.90407527e-01 -4.62639212e-03 9.49212756e+01] [ 6.90394484e-01 7.23420646e-01 -4.24558165e-03 3.82436560e+01] [ 6.27800910e-03 -1.22756943e-04 9.99980286e-01 5.76557535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.471858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:94.94, Y:38.26, Z:0.58 [[ 7.24052841e-01 -6.89728998e-01 -4.62522146e-03 9.49408411e+01] [ 6.89715933e-01 7.24067605e-01 -4.24685660e-03 3.82629690e+01] [ 6.27815317e-03 -1.15140343e-04 9.99980286e-01 5.76896981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:38.28, Z:0.58 [[ 7.24608227e-01 -6.89145521e-01 -4.62260103e-03 9.49611041e+01] [ 6.89132426e-01 7.24622964e-01 -4.24970924e-03 3.82837706e+01] [ 6.27831095e-03 -1.06209983e-04 9.99980286e-01 5.77630735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:38.30, Z:0.58 [[ 7.25925401e-01 -6.87757903e-01 -4.62382138e-03 9.49799750e+01] [ 6.87744788e-01 7.25940120e-01 -4.24838105e-03 3.83047785e+01] [ 6.27847509e-03 -9.60013361e-05 9.99980286e-01 5.80095270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:38.32, Z:0.58 [[ 7.27170235e-01 -6.86441570e-01 -4.62817804e-03 9.49999261e+01] [ 6.86428459e-01 7.27184957e-01 -4.24364096e-03 3.83244737e+01] [ 6.27855301e-03 -9.10637242e-05 9.99980286e-01 5.78531028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.591858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.02, Y:38.34, Z:0.58 [[ 7.27844714e-01 -6.85726407e-01 -4.62238290e-03 9.50193844e+01] [ 6.85713241e-01 7.27859388e-01 -4.24994394e-03 3.83441410e+01] [ 6.27874358e-03 -7.63299312e-05 9.99980286e-01 5.79241930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.621858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:95.04, Y:38.36, Z:0.58 [[ 7.28449793e-01 -6.85083604e-01 -4.62119340e-03 9.50393638e+01] [ 6.85070417e-01 7.28464447e-01 -4.25123696e-03 3.83641888e+01] [ 6.27882783e-03 -6.90302091e-05 9.99980286e-01 5.79481000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.651858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:95.06, Y:38.39, Z:0.58 [[ 7.29319465e-01 -6.84157711e-01 -4.61999875e-03 9.50577680e+01] [ 6.84144498e-01 7.29334095e-01 -4.25253484e-03 3.83852816e+01] [ 6.27892711e-03 -5.92902846e-05 9.99980286e-01 5.78584696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.08, Y:38.41, Z:0.58 [[ 7.29332024e-01 -6.84144330e-01 -4.61881111e-03 9.50777286e+01] [ 6.84131108e-01 7.29346647e-01 -4.25382438e-03 3.84054335e+01] [ 6.27894423e-03 -5.74220141e-05 9.99980286e-01 5.78213659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.10, Y:38.43, Z:0.58 [[ 7.28912518e-01 -6.84591278e-01 -4.61762627e-03 9.50962802e+01] [ 6.84578057e-01 7.28927142e-01 -4.25511016e-03 3.84258114e+01] [ 6.27892443e-03 -5.95225572e-05 9.99980286e-01 5.78210112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.741858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.12, Y:38.45, Z:0.58 [[ 7.28361258e-01 -6.85177758e-01 -4.61711319e-03 9.51166896e+01] [ 6.85164545e-01 7.28375889e-01 -4.25566682e-03 3.84457496e+01] [ 6.27888218e-03 -6.38194240e-05 9.99980286e-01 5.78699580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:38.47, Z:0.58 [[ 7.27632110e-01 -6.85952043e-01 -4.61594799e-03 9.51367917e+01] [ 6.85938837e-01 7.27646748e-01 -4.25693029e-03 3.84656336e+01] [ 6.27882957e-03 -6.87788241e-05 9.99980286e-01 5.79455544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.16, Y:38.49, Z:0.58 [[ 7.26830721e-01 -6.86801140e-01 -4.61478906e-03 9.51569347e+01] [ 6.86787944e-01 7.26845368e-01 -4.25818628e-03 3.84858125e+01] [ 6.27876524e-03 -7.44008792e-05 9.99980286e-01 5.80045125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:38.51, Z:0.58 [[ 7.25772875e-01 -6.87918926e-01 -4.61361954e-03 9.51752391e+01] [ 6.87905744e-01 7.25787534e-01 -4.25945303e-03 3.85056544e+01] [ 6.27866591e-03 -8.23399076e-05 9.99980286e-01 5.80197928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.20, Y:38.53, Z:0.58 [[ 7.25122142e-01 -6.88604822e-01 -4.61282494e-03 9.51950729e+01] [ 6.88591648e-01 7.25136809e-01 -4.26031339e-03 3.85256862e+01] [ 6.27860150e-03 -8.71051525e-05 9.99980286e-01 5.80271615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:38.55, Z:0.58 [[ 7.24382600e-01 -6.89382754e-01 -4.61165205e-03 9.52146478e+01] [ 6.89369588e-01 7.24397273e-01 -4.26158263e-03 3.85451966e+01] [ 6.27852974e-03 -9.21163682e-05 9.99980286e-01 5.79864049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:95.23, Y:38.56, Z:0.58 [[ 7.23786817e-01 -6.90008251e-01 -4.61047034e-03 9.52347301e+01] [ 6.89995090e-01 7.23801495e-01 -4.26286069e-03 3.85643847e+01] [ 6.27847438e-03 -9.57995234e-05 9.99980286e-01 5.79528789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.26, Y:38.58, Z:0.58 [[ 7.22828875e-01 -6.91011702e-01 -4.60927924e-03 9.52552143e+01] [ 6.90998553e-01 7.22843563e-01 -4.26414820e-03 3.85840379e+01] [ 6.27836414e-03 -1.02755841e-04 9.99980286e-01 5.79445758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:38.60, Z:0.58 [[ 7.22614367e-01 -6.91236025e-01 -4.60807257e-03 9.52756109e+01] [ 6.91222872e-01 7.22629052e-01 -4.26545180e-03 3.86036462e+01] [ 6.27836106e-03 -1.02928401e-04 9.99980286e-01 5.79816726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.011858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.30, Y:38.62, Z:0.58 [[ 7.22833119e-01 -6.91007278e-01 -4.60687654e-03 9.52953184e+01] [ 6.90994112e-01 7.22847793e-01 -4.26674317e-03 3.86228119e+01] [ 6.27842112e-03 -9.91812885e-05 9.99980286e-01 5.79985695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:38.64, Z:0.58 [[ 7.23902184e-01 -6.89887244e-01 -4.60635823e-03 9.53153886e+01] [ 6.89874052e-01 7.23916834e-01 -4.26730267e-03 3.86430584e+01] [ 6.27857794e-03 -8.86972968e-05 9.99980286e-01 5.80399459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:38.66, Z:0.58 [[ 7.24583562e-01 -6.89171571e-01 -4.60515876e-03 9.53354813e+01] [ 6.89158356e-01 7.24598192e-01 -4.26859670e-03 3.86627613e+01] [ 6.27868521e-03 -8.07286382e-05 9.99980286e-01 5.80764784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.101858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:95.35, Y:38.68, Z:0.58 [[ 7.26956440e-01 -6.86668143e-01 -4.60395409e-03 9.53544650e+01] [ 6.86654869e-01 7.26971016e-01 -4.26989563e-03 3.86817866e+01] [ 6.27894248e-03 -5.72993660e-05 9.99980286e-01 5.80335244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.38, Y:38.70, Z:0.58 [[ 7.28073498e-01 -6.85483617e-01 -4.60343214e-03 9.53751646e+01] [ 6.85470317e-01 7.28088050e-01 -4.27045827e-03 3.87011909e+01] [ 6.27903311e-03 -4.63085987e-05 9.99980286e-01 5.80231367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.40, Y:38.72, Z:0.58 [[ 7.27882900e-01 -6.85686009e-01 -4.60224483e-03 9.53960620e+01] [ 6.85672704e-01 7.27897448e-01 -4.27173744e-03 3.87206860e+01] [ 6.27903287e-03 -4.63090215e-05 9.99980286e-01 5.80410218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.191858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.42, Y:38.74, Z:0.58 [[ 7.28692134e-01 -6.84825966e-01 -4.60105688e-03 9.54163396e+01] [ 6.84812636e-01 7.28706659e-01 -4.27301659e-03 3.87395413e+01] [ 6.27909350e-03 -3.71483110e-05 9.99980286e-01 5.80470774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.221858064 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:95.44, Y:38.76, Z:0.58 [[ 7.30118452e-01 -6.83305120e-01 -4.59987300e-03 9.54365346e+01] [ 6.83291752e-01 7.30132942e-01 -4.27429065e-03 3.87582558e+01] [ 6.27916349e-03 -2.23168043e-05 9.99980286e-01 5.80606743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.251858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.46, Y:38.78, Z:0.58 [[ 7.30544117e-01 -6.82850012e-01 -4.59935148e-03 9.54563075e+01] [ 6.82836632e-01 7.30558595e-01 -4.27485176e-03 3.87765718e+01] [ 6.27917833e-03 -1.76378701e-05 9.99980286e-01 5.80574651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:95.48, Y:38.80, Z:0.58 [[ 7.31228782e-01 -6.82116793e-01 -4.59883398e-03 9.54771486e+01] [ 6.82103394e-01 7.31243243e-01 -4.27540841e-03 3.87953253e+01] [ 6.27919415e-03 -1.05785781e-05 9.99980286e-01 5.80257386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:38.81, Z:0.58 [[ 7.32130990e-01 -6.81148409e-01 -4.58885268e-03 9.54991079e+01] [ 6.81134924e-01 7.32145371e-01 -4.28613910e-03 3.88139549e+01] [ 6.27920408e-03 1.23874422e-05 9.99980286e-01 5.80742669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.341858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.52, Y:38.83, Z:0.58 [[ 7.33003376e-01 -6.80209463e-01 -4.59738771e-03 9.55198724e+01] [ 6.80196017e-01 7.33017794e-01 -4.27696464e-03 3.88322719e+01] [ 6.27919882e-03 7.90471094e-06 9.99980286e-01 5.81316532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.371858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:95.54, Y:38.85, Z:0.58 [[ 7.33412005e-01 -6.79768930e-01 -4.58615859e-03 9.55413071e+01] [ 6.79755400e-01 7.33426343e-01 -4.28902892e-03 3.88507872e+01] [ 6.27915812e-03 2.81592319e-05 9.99980285e-01 5.80993733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.401858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.56, Y:38.87, Z:0.58 [[ 7.33764007e-01 -6.79388888e-01 -4.59579035e-03 9.55618964e+01] [ 6.79375414e-01 7.33778399e-01 -4.27868332e-03 3.88692320e+01] [ 6.27918159e-03 1.72768405e-05 9.99980286e-01 5.82033459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.58, Y:38.89, Z:0.58 [[ 7.34591432e-01 -6.78494154e-01 -4.59458960e-03 9.55827735e+01] [ 6.78480656e-01 7.34605800e-01 -4.27997233e-03 3.88878763e+01] [ 6.27914838e-03 2.66908443e-05 9.99980286e-01 5.83321374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.461858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:95.60, Y:38.91, Z:0.58 [[ 7.35508110e-01 -6.77500397e-01 -4.58600172e-03 9.56036244e+01] [ 6.77486822e-01 7.35522406e-01 -4.28918547e-03 3.89058132e+01] [ 6.27903188e-03 4.77749657e-05 9.99980286e-01 5.82122839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.491858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.62, Y:38.92, Z:0.58 [[ 7.35789398e-01 -6.77194851e-01 -4.59294891e-03 9.56246816e+01] [ 6.77181316e-01 7.35803732e-01 -4.28173333e-03 3.89246605e+01] [ 6.27907671e-03 4.01948084e-05 9.99980286e-01 5.81942621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.521858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.65, Y:38.94, Z:0.58 [[ 7.36157272e-01 -6.76794936e-01 -4.59176673e-03 9.56472999e+01] [ 6.76781386e-01 7.36171591e-01 -4.28300073e-03 3.89415013e+01] [ 6.27904143e-03 4.53398863e-05 9.99980286e-01 5.83045133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.551858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:95.67, Y:38.96, Z:0.58 [[ 7.36073433e-01 -6.76886126e-01 -4.59054814e-03 9.56686070e+01] [ 6.76872569e-01 7.36087746e-01 -4.28430643e-03 3.89585030e+01] [ 6.27903381e-03 4.63480290e-05 9.99980286e-01 5.83522491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:38.98, Z:0.58 [[ 7.35848878e-01 -6.77130239e-01 -4.59001977e-03 9.56905831e+01] [ 6.77116684e-01 7.35863192e-01 -4.28487243e-03 3.89764804e+01] [ 6.27904329e-03 4.50396013e-05 9.99980286e-01 5.84072646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:38.99, Z:0.58 [[ 7.34479281e-01 -6.78615671e-01 -4.57797169e-03 9.57127968e+01] [ 6.78602063e-01 7.34493546e-01 -4.29777128e-03 3.89930725e+01] [ 6.27902560e-03 5.00029254e-05 9.99980285e-01 5.84883352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.74, Y:39.01, Z:0.59 [[ 7.33839709e-01 -6.79307169e-01 -4.58828121e-03 9.57354685e+01] [ 6.79293644e-01 7.33854052e-01 -4.28673656e-03 3.90115565e+01] [ 6.27913963e-03 2.89872505e-05 9.99980286e-01 5.86476641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:39.03, Z:0.59 [[ 7.33187460e-01 -6.80011080e-01 -4.59120974e-03 9.57561655e+01] [ 6.79997588e-01 7.33201835e-01 -4.28360281e-03 3.90282444e+01] [ 6.27918078e-03 1.86723097e-05 9.99980286e-01 5.85838619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:39.04, Z:0.59 [[ 7.32292053e-01 -6.80975265e-01 -4.58663460e-03 9.57787768e+01] [ 6.80961762e-01 7.32306417e-01 -4.28849601e-03 3.90429641e+01] [ 6.27918166e-03 1.71087673e-05 9.99980286e-01 5.85678779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:39.06, Z:0.59 [[ 7.31660604e-01 -6.81653672e-01 -4.58611343e-03 9.58017456e+01] [ 6.81640178e-01 7.31674977e-01 -4.28905328e-03 3.90612906e+01] [ 6.27919335e-03 1.20521352e-05 9.99980286e-01 5.86392693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.761858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:95.82, Y:39.08, Z:0.59 [[ 7.31068642e-01 -6.82288504e-01 -4.58673000e-03 9.58235847e+01] [ 6.82275027e-01 7.31083031e-01 -4.28839421e-03 3.90788732e+01] [ 6.27920253e-03 5.69919853e-06 9.99980286e-01 5.86058930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.791858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:95.85, Y:39.10, Z:0.59 [[ 7.30052640e-01 -6.83375539e-01 -4.58427275e-03 9.58468685e+01] [ 6.83362067e-01 7.30067033e-01 -4.29101939e-03 3.90953162e+01] [ 6.27920409e-03 -4.80657831e-08 9.99980286e-01 5.86494066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.821858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:95.87, Y:39.11, Z:0.59 [[ 7.29559564e-01 -6.83901921e-01 -4.58324669e-03 9.58692086e+01] [ 6.83888452e-01 7.29573960e-01 -4.29211499e-03 3.91137421e+01] [ 6.27920312e-03 -3.07594643e-06 9.99980286e-01 5.86236275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.851858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:95.89, Y:39.13, Z:0.59 [[ 7.29406012e-01 -6.84065661e-01 -4.58707324e-03 9.58910345e+01] [ 6.84052222e-01 7.29420435e-01 -4.28803076e-03 3.91317332e+01] [ 6.27919956e-03 -1.00822257e-05 9.99980286e-01 5.85474856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.91, Y:39.15, Z:0.59 [[ 7.29161020e-01 -6.84326835e-01 -4.58135037e-03 9.59129608e+01] [ 6.84313362e-01 7.29175413e-01 -4.29413641e-03 3.91496982e+01] [ 6.27920082e-03 -3.96239291e-06 9.99980286e-01 5.85477533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.94, Y:39.17, Z:0.59 [[ 7.29242133e-01 -6.84240407e-01 -4.58013952e-03 9.59366508e+01] [ 6.84226924e-01 7.29256516e-01 -4.29542751e-03 3.91661803e+01] [ 6.27920166e-03 -1.44805912e-06 9.99980286e-01 5.85437636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.941858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:95.96, Y:39.18, Z:0.58 [[ 7.29324344e-01 -6.84152786e-01 -4.57893024e-03 9.59575826e+01] [ 6.84139294e-01 7.29338717e-01 -4.29671622e-03 3.91835124e+01] [ 6.27920148e-03 1.07363673e-06 9.99980286e-01 5.84516415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:39.20, Z:0.58 [[ 7.29123007e-01 -6.84367382e-01 -4.57464081e-03 9.59789550e+01] [ 6.84353865e-01 7.29137358e-01 -4.30128535e-03 3.92022602e+01] [ 6.27920091e-03 5.49298767e-06 9.99980286e-01 5.84713478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.00, Y:39.22, Z:0.58 [[ 7.29385298e-01 -6.84087813e-01 -4.57725572e-03 9.60014509e+01] [ 6.84074308e-01 7.29399660e-01 -4.29850087e-03 3.92196964e+01] [ 6.27920082e-03 4.08029528e-06 9.99980286e-01 5.84447089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.031858064 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:96.02, Y:39.24, Z:0.58 [[ 7.29537167e-01 -6.83925859e-01 -4.57605975e-03 9.60231301e+01] [ 6.83912343e-01 7.29551519e-01 -4.29977369e-03 3.92373780e+01] [ 6.27919775e-03 7.22097450e-06 9.99980286e-01 5.83868495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:39.26, Z:0.59 [[ 7.29158734e-01 -6.84329386e-01 -4.56417882e-03 9.60447479e+01] [ 6.84315799e-01 7.29173018e-01 -4.31241086e-03 3.92551113e+01] [ 6.27918553e-03 2.10923704e-05 9.99980285e-01 5.86296207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.091858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.07, Y:39.27, Z:0.59 [[ 7.28855858e-01 -6.84651893e-01 -4.57431746e-03 9.60669341e+01] [ 6.84638379e-01 7.28870212e-01 -4.30162952e-03 3.92729226e+01] [ 6.27920253e-03 3.51457991e-06 9.99980286e-01 5.88310972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.09, Y:39.29, Z:0.59 [[ 7.28446227e-01 -6.85087713e-01 -4.57377104e-03 9.60883491e+01] [ 6.85074205e-01 7.28460586e-01 -4.30221042e-03 3.92918189e+01] [ 6.27920344e-03 5.56390584e-07 9.99980286e-01 5.89694701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.151858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:96.11, Y:39.31, Z:0.59 [[ 7.28776137e-01 -6.84736721e-01 -4.57867602e-03 9.61091826e+01] [ 6.84723238e-01 7.28790520e-01 -4.29699764e-03 3.93102171e+01] [ 6.27920775e-03 -3.57653058e-06 9.99980286e-01 5.88372696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:39.33, Z:0.59 [[ 7.28702219e-01 -6.84815428e-01 -4.57232937e-03 9.61316164e+01] [ 6.84801904e-01 7.28716563e-01 -4.30374037e-03 3.93280057e+01] [ 6.27919995e-03 5.00529901e-06 9.99980286e-01 5.89079767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:39.35, Z:0.59 [[ 7.28426554e-01 -6.85108648e-01 -4.57114764e-03 9.61528745e+01] [ 6.85095123e-01 7.28440897e-01 -4.30499516e-03 3.93463944e+01] [ 6.27920030e-03 4.20184189e-06 9.99980286e-01 5.91224082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.241858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.17, Y:39.37, Z:0.59 [[ 7.28295281e-01 -6.85248177e-01 -4.57370264e-03 9.61736740e+01] [ 6.85234671e-01 7.28309643e-01 -4.30228308e-03 3.93651074e+01] [ 6.27920337e-03 -7.27157238e-07 9.99980286e-01 5.90764078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:39.38, Z:0.59 [[ 7.27359549e-01 -6.86241361e-01 -4.56952418e-03 9.61951158e+01] [ 6.86227847e-01 7.27373903e-01 -4.30671651e-03 3.93833455e+01] [ 6.27919964e-03 -3.20336128e-06 9.99980286e-01 5.91509806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.22, Y:39.40, Z:0.59 [[ 7.26901908e-01 -6.86726044e-01 -4.57778237e-03 9.62168169e+01] [ 6.86712595e-01 7.26916323e-01 -4.29795454e-03 3.94029692e+01] [ 6.27918204e-03 -1.94294513e-05 9.99980286e-01 5.90940560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.331858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:96.24, Y:39.42, Z:0.59 [[ 7.26757792e-01 -6.86878555e-01 -4.57846384e-03 9.62378084e+01] [ 6.86865113e-01 7.26772214e-01 -4.29723172e-03 3.94215318e+01] [ 6.27917661e-03 -2.17404485e-05 9.99980286e-01 5.90631083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.361858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:96.26, Y:39.44, Z:0.59 [[ 7.25410926e-01 -6.88300897e-01 -4.56754541e-03 9.62586625e+01] [ 6.88287411e-01 7.25425306e-01 -4.30880579e-03 3.94390503e+01] [ 6.27916792e-03 -1.81292066e-05 9.99980286e-01 5.90415996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:39.46, Z:0.59 [[ 7.24568252e-01 -6.89187921e-01 -4.56690849e-03 9.62802154e+01] [ 6.89174448e-01 7.24582644e-01 -4.30948076e-03 3.94590978e+01] [ 6.27914472e-03 -2.48836953e-05 9.99980286e-01 5.90879422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:39.48, Z:0.59 [[ 7.23864660e-01 -6.89926845e-01 -4.57198744e-03 9.62997522e+01] [ 6.89913421e-01 7.23879097e-01 -4.30409919e-03 3.94777256e+01] [ 6.27907972e-03 -3.86901968e-05 9.99980286e-01 5.90444909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:39.50, Z:0.59 [[ 7.23274648e-01 -6.90545391e-01 -4.56575354e-03 9.63195928e+01] [ 6.90531937e-01 7.23289058e-01 -4.31070193e-03 3.94964209e+01] [ 6.27909493e-03 -3.49772145e-05 9.99980286e-01 5.89978310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.481858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:96.34, Y:39.52, Z:0.59 [[ 7.22208592e-01 -6.91660256e-01 -4.56509155e-03 9.63399685e+01] [ 6.91646820e-01 7.22223019e-01 -4.31140288e-03 3.95157469e+01] [ 6.27904022e-03 -4.36988435e-05 9.99980286e-01 5.90622760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.511858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:96.36, Y:39.54, Z:0.59 [[ 7.21732094e-01 -6.92157465e-01 -4.56387121e-03 9.63603925e+01] [ 6.92144030e-01 7.21746522e-01 -4.31269430e-03 3.95355166e+01] [ 6.27902172e-03 -4.62463245e-05 9.99980286e-01 5.90704021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:39.55, Z:0.59 [[ 7.21742922e-01 -6.92146182e-01 -4.56265810e-03 9.63796740e+01] [ 6.92132739e-01 7.21757342e-01 -4.31397734e-03 3.95541812e+01] [ 6.27903492e-03 -4.43824386e-05 9.99980286e-01 5.90198195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:39.57, Z:0.59 [[ 7.21902181e-01 -6.91980079e-01 -4.56198917e-03 9.63996555e+01] [ 6.91966628e-01 7.21916594e-01 -4.31468461e-03 3.95741055e+01] [ 6.27905148e-03 -4.19640346e-05 9.99980286e-01 5.90290558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.601858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:96.42, Y:39.59, Z:0.59 [[ 7.22138027e-01 -6.91733958e-01 -4.56079533e-03 9.64199622e+01] [ 6.91720495e-01 7.22152428e-01 -4.31594617e-03 3.95939743e+01] [ 6.27907595e-03 -3.80867446e-05 9.99980286e-01 5.90608305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.631858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:96.44, Y:39.61, Z:0.59 [[ 7.22518311e-01 -6.91336749e-01 -4.55956737e-03 9.64387510e+01] [ 6.91323269e-01 7.22532697e-01 -4.31724306e-03 3.96128044e+01] [ 6.27910529e-03 -3.28478546e-05 9.99980286e-01 5.89708311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:39.63, Z:0.59 [[ 7.22904946e-01 -6.90932455e-01 -4.55873248e-03 9.64586526e+01] [ 6.90918962e-01 7.22919319e-01 -4.31812447e-03 3.96324758e+01] [ 6.27912812e-03 -2.81211769e-05 9.99980286e-01 5.89642058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.48, Y:39.65, Z:0.59 [[ 7.23279825e-01 -6.90540023e-01 -4.55755299e-03 9.64789797e+01] [ 6.90526514e-01 7.23294184e-01 -4.31936900e-03 3.96523364e+01] [ 6.27914874e-03 -2.29987211e-05 9.99980286e-01 5.90631722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:39.67, Z:0.59 [[ 7.23337108e-01 -6.90480028e-01 -4.55630790e-03 9.64987239e+01] [ 6.90466510e-01 7.23351457e-01 -4.32068199e-03 3.96714596e+01] [ 6.27915658e-03 -2.06684006e-05 9.99980286e-01 5.90686019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.751858064 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:96.52, Y:39.69, Z:0.59 [[ 7.22959405e-01 -6.90875491e-01 -4.55577166e-03 9.65187850e+01] [ 6.90861977e-01 7.22973758e-01 -4.32124733e-03 3.96912104e+01] [ 6.27914723e-03 -2.33230176e-05 9.99980286e-01 5.87389673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:39.71, Z:0.59 [[ 7.22247197e-01 -6.91619979e-01 -4.55965397e-03 9.65383378e+01] [ 6.91606506e-01 7.22261589e-01 -4.31715598e-03 3.97118406e+01] [ 6.27909425e-03 -3.54325509e-05 9.99980286e-01 5.91798701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.56, Y:39.73, Z:0.59 [[ 7.21167886e-01 -6.92745366e-01 -4.55391441e-03 9.65582207e+01] [ 6.92731877e-01 7.21182263e-01 -4.32320184e-03 3.97321873e+01] [ 6.27908034e-03 -3.68873482e-05 9.99980286e-01 5.92221331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:39.75, Z:0.59 [[ 7.19876392e-01 -6.94087353e-01 -4.55270028e-03 9.65777054e+01] [ 6.94073883e-01 7.19890786e-01 -4.32448005e-03 3.97521838e+01] [ 6.27901389e-03 -4.68192679e-05 9.99980286e-01 5.92185931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:39.77, Z:0.59 [[ 7.17193077e-01 -6.96859652e-01 -4.55148118e-03 9.65961679e+01] [ 6.96846229e-01 7.17207516e-01 -4.32576276e-03 3.97717432e+01] [ 6.27880604e-03 -6.92753990e-05 9.99980286e-01 5.93067844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:39.79, Z:0.59 [[ 7.15505071e-01 -6.98592716e-01 -4.55080672e-03 9.66163664e+01] [ 6.98579324e-01 7.15519538e-01 -4.32647218e-03 3.97915331e+01] [ 6.27863308e-03 -8.34866989e-05 9.99980286e-01 5.94067029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:39.81, Z:0.59 [[ 7.13664102e-01 -7.00473305e-01 -4.54959552e-03 9.66362049e+01] [ 7.00459943e-01 7.13678597e-01 -4.32774548e-03 3.98111343e+01] [ 6.27841912e-03 -9.82528224e-05 9.99980286e-01 5.94792087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.961858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:96.65, Y:39.83, Z:0.60 [[ 7.10567395e-01 -7.03614447e-01 -4.54838070e-03 9.66539485e+01] [ 7.03601140e-01 7.10581941e-01 -4.32902185e-03 3.98311536e+01] [ 6.27795950e-03 -1.24184072e-04 9.99980286e-01 5.95092979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.991858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:96.67, Y:39.85, Z:0.59 [[ 7.09218286e-01 -7.04974284e-01 -4.54771798e-03 9.66733317e+01] [ 7.04961001e-01 7.09232854e-01 -4.32971794e-03 3.98513104e+01] [ 6.27773081e-03 -1.35248684e-04 9.99980286e-01 5.94886316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:39.87, Z:0.59 [[ 7.08350056e-01 -7.05846674e-01 -4.54651739e-03 9.66919241e+01] [ 7.05833401e-01 7.08364633e-01 -4.33097828e-03 3.98707923e+01] [ 6.27759873e-03 -1.41235126e-04 9.99980286e-01 5.94683891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.051858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.71, Y:39.89, Z:0.59 [[ 7.07723082e-01 -7.06475318e-01 -4.54570369e-03 9.67103044e+01] [ 7.06462053e-01 7.07737666e-01 -4.33183215e-03 3.98923003e+01] [ 6.27749822e-03 -1.45629561e-04 9.99980286e-01 5.94027052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.081858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.73, Y:39.91, Z:0.59 [[ 7.07531437e-01 -7.06667257e-01 -4.54452840e-03 9.67309420e+01] [ 7.06653988e-01 7.07546017e-01 -4.33306480e-03 3.99120861e+01] [ 6.27749799e-03 -1.45629556e-04 9.99980286e-01 5.94205898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.111858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.75, Y:39.93, Z:0.59 [[ 7.08053483e-01 -7.06144194e-01 -4.54335278e-03 9.67501136e+01] [ 7.06130906e-01 7.08068046e-01 -4.33429712e-03 3.99321106e+01] [ 6.27764167e-03 -1.39287636e-04 9.99980286e-01 5.93282823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141858064 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:96.77, Y:39.95, Z:0.59 [[ 7.07532191e-01 -7.06666518e-01 -4.54210429e-03 9.67690060e+01] [ 7.06653232e-01 7.07546756e-01 -4.33560508e-03 3.99533033e+01] [ 6.27757810e-03 -1.42112519e-04 9.99980286e-01 5.89969783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.171858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:96.79, Y:39.98, Z:0.59 [[ 7.09417576e-01 -7.04773715e-01 -4.55114598e-03 9.67874512e+01] [ 7.04760451e-01 7.09432161e-01 -4.32613696e-03 3.99751942e+01] [ 6.27767695e-03 -1.38430098e-04 9.99980286e-01 5.94747573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:96.81, Y:39.99, Z:0.59 [[ 7.10464767e-01 -7.03718130e-01 -4.53962409e-03 9.68062438e+01] [ 7.03704767e-01 7.10479261e-01 -4.33819383e-03 3.99946989e+01] [ 6.27817442e-03 -1.12421242e-04 9.99980286e-01 5.94102099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.231858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.83, Y:40.02, Z:0.60 [[ 7.11644381e-01 -7.02525211e-01 -4.53897465e-03 9.68259757e+01] [ 7.02511820e-01 7.11658849e-01 -4.33887322e-03 4.00151199e+01] [ 6.27836931e-03 -1.00948592e-04 9.99980286e-01 5.95793326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.261858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.84, Y:40.03, Z:0.60 [[ 7.13147478e-01 -7.00999346e-01 -4.53775998e-03 9.68443713e+01] [ 7.00985916e-01 7.13161910e-01 -4.34014321e-03 4.00348221e+01] [ 6.27859512e-03 -8.57436465e-05 9.99980286e-01 5.96333438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.291858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:96.86, Y:40.06, Z:0.60 [[ 7.16987834e-01 -6.97070916e-01 -4.53707110e-03 9.68636286e+01] [ 6.97057401e-01 7.17002187e-01 -4.34086322e-03 4.00563057e+01] [ 6.27897940e-03 -5.02528767e-05 9.99980286e-01 5.97947277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.321858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:96.88, Y:40.08, Z:0.60 [[ 7.17045991e-01 -6.97011098e-01 -4.53601356e-03 9.68793852e+01] [ 6.96997576e-01 7.17060337e-01 -4.34196802e-03 4.00765496e+01] [ 6.27899531e-03 -4.81996909e-05 9.99980286e-01 5.95939246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:40.10, Z:0.60 [[ 7.20516095e-01 -6.93423609e-01 -4.50062488e-03 9.69026795e+01] [ 6.93409783e-01 7.20530150e-01 -4.37891162e-03 4.00964984e+01] [ 6.27927661e-03 3.42989800e-05 9.99980285e-01 6.00938256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:40.12, Z:0.60 [[ 7.23517902e-01 -6.90290720e-01 -4.53503974e-03 9.69212385e+01] [ 6.90277058e-01 7.23532115e-01 -4.34297479e-03 4.01176198e+01] [ 6.27916209e-03 1.17861149e-05 9.99980286e-01 6.02094219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.94, Y:40.14, Z:0.60 [[ 7.24259518e-01 -6.89512573e-01 -4.53465716e-03 9.69408866e+01] [ 6.89498893e-01 7.24273713e-01 -4.34337422e-03 4.01375872e+01] [ 6.27914411e-03 1.90890270e-05 9.99980286e-01 6.02603021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:40.16, Z:0.60 [[ 7.24914080e-01 -6.88824379e-01 -4.53343378e-03 9.69607745e+01] [ 6.88810678e-01 7.24928254e-01 -4.34465076e-03 4.01567141e+01] [ 6.27911560e-03 2.68209062e-05 9.99980286e-01 6.03129714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.98, Y:40.18, Z:0.60 [[ 7.25481479e-01 -6.88226767e-01 -4.53219674e-03 9.69800169e+01] [ 6.88213046e-01 7.25495634e-01 -4.34594082e-03 4.01751055e+01] [ 6.27908175e-03 3.37826479e-05 9.99980286e-01 6.03381805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:40.19, Z:0.60 [[ 7.24855971e-01 -6.88885540e-01 -4.53135527e-03 9.69994602e+01] [ 6.88871827e-01 7.24870134e-01 -4.34681800e-03 4.01947133e+01] [ 6.27910418e-03 2.92940024e-05 9.99980286e-01 6.03443028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.531858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:97.02, Y:40.21, Z:0.60 [[ 7.24555767e-01 -6.89201291e-01 -4.53010976e-03 9.70187723e+01] [ 6.89187575e-01 7.24569928e-01 -4.34811565e-03 4.02141397e+01] [ 6.27910822e-03 2.83568992e-05 9.99980286e-01 6.02981945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:40.23, Z:0.60 [[ 7.23221651e-01 -6.90601134e-01 -4.52956984e-03 9.70386882e+01] [ 6.90587443e-01 7.23235835e-01 -4.34867803e-03 4.02336345e+01] [ 6.27914921e-03 1.69940492e-05 9.99980286e-01 6.01824378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:40.25, Z:0.60 [[ 7.22265120e-01 -6.91601468e-01 -4.52835962e-03 9.70590246e+01] [ 6.91587788e-01 7.22279315e-01 -4.34993789e-03 4.02525922e+01] [ 6.27916392e-03 1.00501967e-05 9.99980286e-01 6.01644200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.621858064 meters Centerline goodness : 0.996111 Centerline is valid? [True, True] Translation: X:97.08, Y:40.27, Z:0.60 [[ 7.21105163e-01 -6.92810832e-01 -4.52715733e-03 9.70792111e+01] [ 6.92797168e-01 7.21119373e-01 -4.35118880e-03 4.02716299e+01] [ 6.27917159e-03 1.26293338e-06 9.99980286e-01 6.00372274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.651858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:97.10, Y:40.29, Z:0.60 [[ 7.19609779e-01 -6.94363947e-01 -4.52492772e-03 9.70991351e+01] [ 6.94350299e-01 7.19624005e-01 -4.35350717e-03 4.02895567e+01] [ 6.27916504e-03 -9.05858676e-06 9.99980286e-01 6.00550836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.681858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.12, Y:40.31, Z:0.60 [[ 7.17686278e-01 -6.96351953e-01 -4.51261714e-03 9.71186728e+01] [ 6.96338264e-01 7.17700465e-01 -4.36630489e-03 4.03092911e+01] [ 6.27919235e-03 -8.67088611e-06 9.99980286e-01 6.02351166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.711858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.14, Y:40.33, Z:0.60 [[ 7.17257485e-01 -6.96793533e-01 -4.52462971e-03 9.71376065e+01] [ 6.96779931e-01 7.17271756e-01 -4.35382104e-03 4.03288104e+01] [ 6.27910344e-03 -2.98604408e-05 9.99980286e-01 6.02134936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.741858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.16, Y:40.35, Z:0.60 [[ 7.14910117e-01 -6.99201804e-01 -4.51234230e-03 9.71575464e+01] [ 6.99188170e-01 7.14924357e-01 -4.36658672e-03 4.03512047e+01] [ 6.27910873e-03 -3.32593277e-05 9.99980286e-01 6.02094606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.771858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.17, Y:40.37, Z:0.60 [[ 7.11630023e-01 -7.02539855e-01 -4.52357373e-03 9.71732525e+01] [ 7.02526362e-01 7.11644395e-01 -4.35492033e-03 4.03714201e+01] [ 6.27868099e-03 -7.88377393e-05 9.99980286e-01 5.98265150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:40.39, Z:0.60 [[ 7.13328374e-01 -7.00815602e-01 -4.48575722e-03 9.71958367e+01] [ 7.00801827e-01 7.13342478e-01 -4.39411088e-03 4.03888656e+01] [ 6.27934263e-03 -9.18287846e-06 9.99980285e-01 6.00100867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.831858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.22, Y:40.41, Z:0.60 [[ 7.11139716e-01 -7.03036376e-01 -4.48983119e-03 9.72178721e+01] [ 7.03022671e-01 7.11153889e-01 -4.38989212e-03 4.04100166e+01] [ 6.27921475e-03 -3.46264780e-05 9.99980285e-01 6.02911099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.861858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:97.24, Y:40.43, Z:0.60 [[ 7.10865248e-01 -7.03313726e-01 -4.51699267e-03 9.72371551e+01] [ 7.03300204e-01 7.10879594e-01 -4.36176400e-03 4.04282336e+01] [ 6.27872641e-03 -7.61754270e-05 9.99980286e-01 6.03278933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.26, Y:40.45, Z:0.60 [[ 7.08916747e-01 -7.05277790e-01 -4.50380011e-03 9.72568965e+01] [ 7.05264222e-01 7.08931050e-01 -4.37542064e-03 4.04501044e+01] [ 6.27877074e-03 -7.45601133e-05 9.99980286e-01 6.04275650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:97.28, Y:40.47, Z:0.60 [[ 7.09415346e-01 -7.04776190e-01 -4.51550105e-03 9.72813312e+01] [ 7.04762688e-01 7.09429711e-01 -4.36331158e-03 4.04713825e+01] [ 6.27858871e-03 -8.69564611e-05 9.99980286e-01 6.02323351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.29, Y:40.49, Z:0.60 [[ 7.06455595e-01 -7.07742733e-01 -4.55144511e-03 9.72940931e+01] [ 7.07729530e-01 7.06470237e-01 -4.32613855e-03 4.04926120e+01] [ 6.27725363e-03 -1.64967328e-04 9.99980284e-01 6.02336965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.981858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:97.32, Y:40.51, Z:0.61 [[ 7.08273096e-01 -7.05924284e-01 -4.48641639e-03 9.73181681e+01] [ 7.05910614e-01 7.08287303e-01 -4.39335262e-03 4.05129960e+01] [ 6.27904607e-03 -5.53154906e-05 9.99980285e-01 6.05571763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:40.53, Z:0.60 [[ 7.10143501e-01 -7.04042403e-01 -4.52795396e-03 9.73411786e+01] [ 7.04028969e-01 7.10157930e-01 -4.35039500e-03 4.05322460e+01] [ 6.27842496e-03 -9.84060185e-05 9.99980286e-01 6.04832999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.041858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:97.36, Y:40.55, Z:0.61 [[ 7.08522986e-01 -7.05672962e-01 -4.56614629e-03 9.73562216e+01] [ 7.05659814e-01 7.08537679e-01 -4.31086618e-03 4.05519300e+01] [ 6.27734840e-03 -1.67798166e-04 9.99980283e-01 6.06396671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:40.57, Z:0.61 [[ 7.08567139e-01 -7.05628876e-01 -4.52751159e-03 9.73724817e+01] [ 7.05615472e-01 7.08581595e-01 -4.35080425e-03 4.05728684e+01] [ 6.27816449e-03 -1.11845306e-04 9.99980286e-01 6.06387271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:40.59, Z:0.61 [[ 7.08532286e-01 -7.05663972e-01 -4.51199872e-03 9.73914306e+01] [ 7.05650466e-01 7.08546647e-01 -4.36683281e-03 4.05930823e+01] [ 6.27847815e-03 -8.98519697e-05 9.99980286e-01 6.06094620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:40.61, Z:0.60 [[ 7.10698390e-01 -7.03482374e-01 -4.51076935e-03 9.74170780e+01] [ 7.03468816e-01 7.10712702e-01 -4.36810233e-03 4.06136469e+01] [ 6.27874407e-03 -6.87822754e-05 9.99980286e-01 6.04741015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.161858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:97.43, Y:40.63, Z:0.61 [[ 7.08729282e-01 -7.05465730e-01 -4.57267499e-03 9.74293267e+01] [ 7.05452621e-01 7.08744011e-01 -4.30413828e-03 4.06340576e+01] [ 6.27727807e-03 -1.75336727e-04 9.99980282e-01 6.07426082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:40.65, Z:0.61 [[ 7.08608708e-01 -7.05587250e-01 -4.50908917e-03 9.74488581e+01] [ 7.05573724e-01 7.08623049e-01 -4.36975169e-03 4.06539175e+01] [ 6.27848560e-03 -8.50507378e-05 9.99980286e-01 6.08047721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:40.68, Z:0.61 [[ 7.10578308e-01 -7.03603686e-01 -4.50785233e-03 9.74731666e+01] [ 7.03590112e-01 7.10592604e-01 -4.37102726e-03 4.06751273e+01] [ 6.27871741e-03 -6.57231694e-05 9.99980287e-01 6.07027202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:40.69, Z:0.61 [[ 7.09292363e-01 -7.04899716e-01 -4.55359383e-03 9.74876816e+01] [ 7.04886469e-01 7.09306965e-01 -4.32384024e-03 4.06946504e+01] [ 6.27776957e-03 -1.42899815e-04 9.99980284e-01 6.08556117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.51, Y:40.71, Z:0.61 [[ 7.09594128e-01 -7.04596245e-01 -4.50617900e-03 9.75063040e+01] [ 7.04582680e-01 7.09608432e-01 -4.37270243e-03 4.07138200e+01] [ 6.27861232e-03 -7.21317082e-05 9.99980287e-01 6.08713612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.311858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.53, Y:40.73, Z:0.61 [[ 7.09616302e-01 -7.04573916e-01 -4.50564569e-03 9.75256866e+01] [ 7.04560347e-01 7.09630603e-01 -4.37325188e-03 4.07335636e+01] [ 6.27862327e-03 -7.11684638e-05 9.99980287e-01 6.08878186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.341858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.54, Y:40.75, Z:0.61 [[ 7.10303686e-01 -7.03880879e-01 -4.51467893e-03 9.75447157e+01] [ 7.03867355e-01 7.10318029e-01 -4.36394690e-03 4.07540053e+01] [ 6.27855662e-03 -7.80075479e-05 9.99980287e-01 6.08125286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.371858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:97.56, Y:40.77, Z:0.61 [[ 7.10375285e-01 -7.03808688e-01 -4.50396329e-03 9.75647062e+01] [ 7.03795093e-01 7.10389560e-01 -4.37497846e-03 4.07742025e+01] [ 6.27871635e-03 -6.19906903e-05 9.99980287e-01 6.08149864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.401858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.58, Y:40.79, Z:0.61 [[ 7.10760677e-01 -7.03419494e-01 -4.50273553e-03 9.75836849e+01] [ 7.03405883e-01 7.10774938e-01 -4.37624171e-03 4.07936243e+01] [ 6.27876530e-03 -5.67901373e-05 9.99980287e-01 6.06381024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:40.81, Z:0.61 [[ 7.10607327e-01 -7.03574429e-01 -4.50002493e-03 9.76031085e+01] [ 7.03560804e-01 7.10621573e-01 -4.37902917e-03 4.08132442e+01] [ 6.27878774e-03 -5.42709452e-05 9.99980287e-01 6.07644516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.461858064 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:97.62, Y:40.83, Z:0.61 [[ 7.10264161e-01 -7.03920878e-01 -4.49659553e-03 9.76216891e+01] [ 7.03907237e-01 7.10278393e-01 -4.38255440e-03 4.08326123e+01] [ 6.27880619e-03 -5.24148125e-05 9.99980287e-01 6.06592239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.491858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.64, Y:40.85, Z:0.61 [[ 7.09976566e-01 -7.04211053e-01 -4.47974405e-03 9.76441266e+01] [ 7.04197308e-01 7.09990698e-01 -4.39987927e-03 4.08527963e+01] [ 6.27902022e-03 -3.08125282e-05 9.99980286e-01 6.08236770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.521858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.66, Y:40.87, Z:0.61 [[ 7.08718348e-01 -7.05477178e-01 -4.50049447e-03 9.76635915e+01] [ 7.05463594e-01 7.08732633e-01 -4.37855096e-03 4.08726301e+01] [ 6.27861507e-03 -7.17756034e-05 9.99980287e-01 6.07773495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:40.89, Z:0.61 [[ 7.08970754e-01 -7.05223608e-01 -4.48702700e-03 9.76835445e+01] [ 7.05209931e-01 7.08984951e-01 -4.39238788e-03 4.08914593e+01] [ 6.27885025e-03 -5.02214533e-05 9.99980287e-01 6.07742118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:40.91, Z:0.61 [[ 7.10616060e-01 -7.03565684e-01 -4.48818861e-03 9.77049524e+01] [ 7.03551981e-01 7.10630232e-01 -4.39119471e-03 4.09099457e+01] [ 6.27893642e-03 -3.72205052e-05 9.99980287e-01 6.08755660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:40.93, Z:0.61 [[ 7.11515064e-01 -7.02656443e-01 -4.49848149e-03 9.77255469e+01] [ 7.02642789e-01 7.11529283e-01 -4.38062491e-03 4.09295912e+01] [ 6.27887563e-03 -4.39449643e-05 9.99980287e-01 6.08629171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.75, Y:40.95, Z:0.61 [[ 7.13825346e-01 -7.00309325e-01 -4.49726840e-03 9.77461413e+01] [ 7.00295616e-01 7.13839512e-01 -4.38186995e-03 4.09492942e+01] [ 6.27899227e-03 -2.15275142e-05 9.99980287e-01 6.09036316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.77, Y:40.97, Z:0.61 [[ 7.15372143e-01 -6.98729191e-01 -4.49605218e-03 9.77655684e+01] [ 6.98715444e-01 7.15386271e-01 -4.38311751e-03 4.09684489e+01] [ 6.27902615e-03 -5.90092785e-06 9.99980287e-01 6.08802799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:40.99, Z:0.61 [[ 7.16810084e-01 -6.97253967e-01 -4.49539418e-03 9.77854242e+01] [ 6.97240186e-01 7.16824180e-01 -4.38379225e-03 4.09884574e+01] [ 6.27902379e-03 7.97701674e-06 9.99980287e-01 6.08675147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.731858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.80, Y:41.01, Z:0.61 [[ 7.18136192e-01 -6.95888074e-01 -4.49415943e-03 9.78029694e+01] [ 6.95874259e-01 7.18150254e-01 -4.38505773e-03 4.10088320e+01] [ 6.27899111e-03 2.16988018e-05 9.99980287e-01 6.08516167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:41.03, Z:0.61 [[ 7.20217940e-01 -6.93733458e-01 -4.47305640e-03 9.78256643e+01] [ 6.93719466e-01 7.20231826e-01 -4.40667398e-03 4.10278437e+01] [ 6.27869476e-03 7.07193590e-05 9.99980286e-01 6.08453740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.791858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.85, Y:41.05, Z:0.61 [[ 7.20368323e-01 -6.93577173e-01 -4.49265433e-03 9.78461454e+01] [ 6.93563302e-01 7.20382331e-01 -4.38660225e-03 4.10471361e+01] [ 6.27887599e-03 4.40291344e-05 9.99980287e-01 6.06918572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:41.07, Z:0.61 [[ 7.20014458e-01 -6.93944489e-01 -4.49743225e-03 9.78669500e+01] [ 6.93930656e-01 7.20028503e-01 -4.38171258e-03 4.10662263e+01] [ 6.27894471e-03 3.39902888e-05 9.99980287e-01 6.10298386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.851858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.89, Y:41.08, Z:0.61 [[ 7.20101459e-01 -6.93854255e-01 -4.49006822e-03 9.78875931e+01] [ 6.93840374e-01 7.20115456e-01 -4.38924576e-03 4.10843053e+01] [ 6.27886438e-03 4.53116659e-05 9.99980287e-01 6.09884007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.881858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:97.91, Y:41.10, Z:0.61 [[ 7.19434453e-01 -6.94545832e-01 -4.48949061e-03 9.79083695e+01] [ 6.94531960e-01 7.19448459e-01 -4.38983648e-03 4.11032717e+01] [ 6.27889974e-03 4.01048921e-05 9.99980287e-01 6.10090952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.911858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:97.93, Y:41.12, Z:0.61 [[ 7.17680351e-01 -6.96358219e-01 -4.48825416e-03 9.79301390e+01] [ 6.96344375e-01 7.17694385e-01 -4.39110030e-03 4.11214912e+01] [ 6.27897359e-03 2.60358683e-05 9.99980287e-01 6.10249820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:41.14, Z:0.61 [[ 7.16794902e-01 -6.97269629e-01 -4.48701568e-03 9.79502088e+01] [ 6.97255795e-01 7.16808945e-01 -4.39236546e-03 4.11392989e+01] [ 6.27899601e-03 1.98274872e-05 9.99980287e-01 6.10591388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:41.16, Z:0.61 [[ 7.16599684e-01 -6.97470260e-01 -4.48647904e-03 9.79705828e+01] [ 6.97456426e-01 7.16613728e-01 -4.39291353e-03 4.11593496e+01] [ 6.27899902e-03 1.88368104e-05 9.99980287e-01 6.10770597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:97.99, Y:41.18, Z:0.61 [[ 7.15510934e-01 -6.98587136e-01 -4.48524894e-03 9.79912806e+01] [ 6.98573316e-01 7.15524992e-01 -4.39416913e-03 4.11781505e+01] [ 6.27901774e-03 1.08008303e-05 9.99980287e-01 6.10911823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.031858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.01, Y:41.20, Z:0.61 [[ 7.14349687e-01 -6.99774549e-01 -4.48401188e-03 9.80123310e+01] [ 6.99760744e-01 7.14363760e-01 -4.39543112e-03 4.11970316e+01] [ 6.27902641e-03 2.13935890e-06 9.99980287e-01 6.11199925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.03, Y:41.21, Z:0.61 [[ 7.12081996e-01 -7.02082000e-01 -4.48277747e-03 9.80330652e+01] [ 7.02068234e-01 7.12096106e-01 -4.39668970e-03 4.12138511e+01] [ 6.27900508e-03 -1.64120804e-05 9.99980287e-01 6.11472136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.091858064 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:98.05, Y:41.23, Z:0.61 [[ 7.11102370e-01 -7.03074200e-01 -4.48210428e-03 9.80539406e+01] [ 7.03060449e-01 7.11116494e-01 -4.39737586e-03 4.12326036e+01] [ 6.27897980e-03 -2.42058574e-05 9.99980287e-01 6.09835823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.121858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:98.07, Y:41.25, Z:0.61 [[ 7.09878640e-01 -7.04309757e-01 -4.48133078e-03 9.80742169e+01] [ 7.04296025e-01 7.09892784e-01 -4.39816396e-03 4.12513447e+01] [ 6.27893418e-03 -3.40208082e-05 9.99980287e-01 6.10841808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.151858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:98.10, Y:41.27, Z:0.61 [[ 7.08071469e-01 -7.06126565e-01 -4.47989958e-03 9.80960944e+01] [ 7.06112860e-01 7.08085639e-01 -4.39962128e-03 4.12681695e+01] [ 6.27884202e-03 -4.80683999e-05 9.99980287e-01 6.10056024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.181858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.12, Y:41.29, Z:0.61 [[ 7.07037486e-01 -7.07161883e-01 -4.47929613e-03 9.81173461e+01] [ 7.07148196e-01 7.07051672e-01 -4.40023558e-03 4.12864374e+01] [ 6.27877270e-03 -5.63946753e-05 9.99980287e-01 6.11440137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.211858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:98.14, Y:41.30, Z:0.61 [[ 7.06227947e-01 -7.07970362e-01 -4.47806337e-03 9.81380203e+01] [ 7.07956683e-01 7.06242141e-01 -4.40148977e-03 4.13047870e+01] [ 6.27872138e-03 -6.18198039e-05 9.99980287e-01 6.12178447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.241858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:98.16, Y:41.32, Z:0.61 [[ 7.05180964e-01 -7.09013234e-01 -4.47683057e-03 9.81589640e+01] [ 7.08999568e-01 7.05195171e-01 -4.40274332e-03 4.13232435e+01] [ 6.27864258e-03 -6.93401635e-05 9.99980287e-01 6.12626092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.271858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.17, Y:41.34, Z:0.61 [[ 7.00123591e-01 -7.14007651e-01 -4.47559742e-03 9.81690548e+01] [ 7.13994078e-01 7.00137888e-01 -4.40399652e-03 4.13427886e+01] [ 6.27802254e-03 -1.12208192e-04 9.99980287e-01 6.06822671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.301858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:98.20, Y:41.36, Z:0.61 [[ 7.04355091e-01 -7.09834271e-01 -4.38329242e-03 9.82002135e+01] [ 7.09820024e-01 7.04368728e-01 -4.49766035e-03 4.13617147e+01] [ 6.28004756e-03 5.66012357e-05 9.99980279e-01 6.12472820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.331858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:98.22, Y:41.38, Z:0.61 [[ 7.03908486e-01 -7.10276581e-01 -4.47460546e-03 9.82212076e+01] [ 7.10262926e-01 7.03922704e-01 -4.40490246e-03 4.13809025e+01] [ 6.27847543e-03 -7.74981432e-05 9.99980287e-01 6.13295059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.361858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:98.24, Y:41.40, Z:0.61 [[ 7.03384094e-01 -7.10795896e-01 -4.47339206e-03 9.82432686e+01] [ 7.10782244e-01 7.03398314e-01 -4.40613437e-03 4.13996286e+01] [ 6.27843866e-03 -8.04028168e-05 9.99980287e-01 6.13860930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.391858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:98.26, Y:41.42, Z:0.61 [[ 7.02921053e-01 -7.11253817e-01 -4.47232959e-03 9.82636391e+01] [ 7.11240167e-01 7.02935275e-01 -4.40721255e-03 4.14190749e+01] [ 6.27840497e-03 -8.29779629e-05 9.99980287e-01 6.14088096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:98.28, Y:41.44, Z:0.61 [[ 7.03121447e-01 -7.11055723e-01 -4.47112104e-03 9.82832407e+01] [ 7.11042061e-01 7.03135658e-01 -4.40843827e-03 4.14371595e+01] [ 6.27844990e-03 -7.94876273e-05 9.99980287e-01 6.13250529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45185806399999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:98.30, Y:41.46, Z:0.61 [[ 7.04104090e-01 -7.10082704e-01 -4.47030058e-03 9.83042185e+01] [ 7.10069018e-01 7.04118277e-01 -4.40927009e-03 4.14556713e+01] [ 6.27856677e-03 -6.96368419e-05 9.99980287e-01 6.12790198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.481858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.32, Y:41.47, Z:0.61 [[ 7.04704559e-01 -7.09486795e-01 -4.46905087e-03 9.83247245e+01] [ 7.09473089e-01 7.04718727e-01 -4.41053638e-03 4.14748889e+01] [ 6.27864116e-03 -6.25462283e-05 9.99980287e-01 6.13042545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.511858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:98.35, Y:41.49, Z:0.61 [[ 7.05241136e-01 -7.08953440e-01 -4.46780448e-03 9.83453879e+01] [ 7.08939714e-01 7.05255285e-01 -4.41179860e-03 4.14944996e+01] [ 6.27870251e-03 -5.60221790e-05 9.99980287e-01 6.13625792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:41.51, Z:0.61 [[ 7.05655020e-01 -7.08541490e-01 -4.46656609e-03 9.83654545e+01] [ 7.08527748e-01 7.05669154e-01 -4.41305201e-03 4.15136023e+01] [ 6.27874835e-03 -5.05937097e-05 9.99980287e-01 6.14297566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.571858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.39, Y:41.53, Z:0.62 [[ 7.06867335e-01 -7.07332052e-01 -4.46533096e-03 9.83860608e+01] [ 7.07318279e-01 7.06881437e-01 -4.41430141e-03 4.15319541e+01] [ 6.27883644e-03 -3.80847309e-05 9.99980287e-01 6.15255991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.41, Y:41.55, Z:0.62 [[ 7.07587441e-01 -7.06611690e-01 -4.46462536e-03 9.84063995e+01] [ 7.06597897e-01 7.07601526e-01 -4.41501494e-03 4.15507312e+01] [ 6.27887688e-03 -3.06857623e-05 9.99980287e-01 6.15006402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.631858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.43, Y:41.57, Z:0.62 [[ 7.07380954e-01 -7.06818437e-01 -4.45907736e-03 9.84270839e+01] [ 7.06804613e-01 7.07395008e-01 -4.42062327e-03 4.15704659e+01] [ 6.27890709e-03 -2.46317374e-05 9.99980287e-01 6.15384298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.661858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:98.44, Y:41.59, Z:0.61 [[ 7.05555914e-01 -7.08640161e-01 -4.46929171e-03 9.84417900e+01] [ 7.08626439e-01 7.05570066e-01 -4.41029994e-03 4.15875151e+01] [ 6.27871411e-03 -5.53450630e-05 9.99980287e-01 6.12738520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.691858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:98.47, Y:41.61, Z:0.62 [[ 7.07565449e-01 -7.06634122e-01 -4.39918631e-03 9.84687356e+01] [ 7.06619916e-01 7.07579122e-01 -4.48106945e-03 4.16074944e+01] [ 6.27924896e-03 6.20972578e-05 9.99980283e-01 6.17175787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:41.63, Z:0.62 [[ 7.07508470e-01 -7.06690801e-01 -4.45829948e-03 9.84891112e+01] [ 7.06676970e-01 7.07522517e-01 -4.42137254e-03 4.16261421e+01] [ 6.27889057e-03 -2.24190390e-05 9.99980287e-01 6.18206770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.751858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.51, Y:41.65, Z:0.62 [[ 7.08264751e-01 -7.05932843e-01 -4.45686000e-03 9.85147592e+01] [ 7.05918988e-01 7.08278773e-01 -4.42282580e-03 4.16463073e+01] [ 6.27891733e-03 -1.36504916e-05 9.99980287e-01 6.18337903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.53, Y:41.66, Z:0.62 [[ 7.07593478e-01 -7.06605401e-01 -4.50296272e-03 9.85310788e+01] [ 7.06591854e-01 7.07607801e-01 -4.37622502e-03 4.16615739e+01] [ 6.27859578e-03 -8.51684886e-05 9.99980286e-01 6.17267542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.55, Y:41.68, Z:0.62 [[ 7.09276795e-01 -7.04916109e-01 -4.43930665e-03 9.85505840e+01] [ 7.04902123e-01 7.09290687e-01 -4.44043339e-03 4.16782641e+01] [ 6.27889189e-03 2.02196845e-05 9.99980287e-01 6.16383140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.841858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.57, Y:41.70, Z:0.62 [[ 7.07714865e-01 -7.06484392e-01 -4.41277409e-03 9.85738860e+01] [ 7.06470270e-01 7.07728621e-01 -4.46720528e-03 4.17003411e+01] [ 6.27905733e-03 4.40138792e-05 9.99980286e-01 6.17633110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.871858064 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:98.59, Y:41.72, Z:0.62 [[ 7.08777161e-01 -7.05418347e-01 -4.46003166e-03 9.85937530e+01] [ 7.05404502e-01 7.08791193e-01 -4.41951448e-03 4.17184537e+01] [ 6.27883776e-03 -1.36754935e-05 9.99980288e-01 6.15676324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.901858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:98.61, Y:41.74, Z:0.62 [[ 7.09351727e-01 -7.04840702e-01 -4.43978599e-03 9.86149745e+01] [ 7.04826718e-01 7.09365621e-01 -4.43993023e-03 4.17366683e+01] [ 6.27887509e-03 2.01923808e-05 9.99980287e-01 6.18056556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:41.76, Z:0.62 [[ 7.09718214e-01 -7.04471599e-01 -4.45229967e-03 9.86356876e+01] [ 7.04457687e-01 7.09732179e-01 -4.42731223e-03 4.17563021e+01] [ 6.27885607e-03 5.68739230e-06 9.99980288e-01 6.15855182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.961858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:98.66, Y:41.78, Z:0.62 [[ 7.09305040e-01 -7.04887571e-01 -4.45784063e-03 9.86565606e+01] [ 7.04873702e-01 7.09319049e-01 -4.42172601e-03 4.17754820e+01] [ 6.27885098e-03 -5.86208020e-06 9.99980288e-01 6.15591350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:41.79, Z:0.62 [[ 7.08808350e-01 -7.05387027e-01 -4.45715526e-03 9.86759985e+01] [ 7.05373163e-01 7.08822363e-01 -4.42241676e-03 4.17937584e+01] [ 6.27884674e-03 -9.31177971e-06 9.99980288e-01 6.15131715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.021858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:98.70, Y:41.81, Z:0.62 [[ 7.08031445e-01 -7.06166844e-01 -4.45650401e-03 9.86964610e+01] [ 7.06152992e-01 7.08045470e-01 -4.42307294e-03 4.18129644e+01] [ 6.27883494e-03 -1.52989179e-05 9.99980288e-01 6.15165790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:41.83, Z:0.62 [[ 7.07154799e-01 -7.07044723e-01 -4.45530029e-03 9.87160925e+01] [ 7.07030881e-01 7.07168834e-01 -4.42428510e-03 4.18312480e+01] [ 6.27881694e-03 -2.13804483e-05 9.99980288e-01 6.15553319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.081858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.74, Y:41.85, Z:0.62 [[ 7.04858350e-01 -7.09334099e-01 -4.45461324e-03 9.87368847e+01] [ 7.09320298e-01 7.04872425e-01 -4.42497675e-03 4.18502134e+01] [ 6.27872093e-03 -4.07657769e-05 9.99980288e-01 6.17174818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:41.87, Z:0.62 [[ 7.03665146e-01 -7.10517786e-01 -4.45408887e-03 9.87570491e+01] [ 7.10504005e-01 7.03679241e-01 -4.42550450e-03 4.18701051e+01] [ 6.27864954e-03 -5.05747107e-05 9.99980288e-01 6.18438379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:98.78, Y:41.89, Z:0.62 [[ 7.02895000e-01 -7.11279685e-01 -4.45290022e-03 9.87766609e+01] [ 7.11265912e-01 7.02909103e-01 -4.42670019e-03 4.18893101e+01] [ 6.27860602e-03 -5.56907017e-05 9.99980288e-01 6.17853411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.171858064 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:98.80, Y:41.91, Z:0.62 [[ 7.00907368e-01 -7.13238484e-01 -4.44142648e-03 9.87969615e+01] [ 7.13224677e-01 7.00921438e-01 -4.43823277e-03 4.19091001e+01] [ 6.27860945e-03 -5.69449235e-05 9.99980288e-01 6.18521212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:41.93, Z:0.62 [[ 6.99068172e-01 -7.15041274e-01 -4.43473337e-03 9.88176923e+01] [ 7.15027461e-01 6.99082235e-01 -4.44495823e-03 4.19304611e+01] [ 6.27857192e-03 -6.36273171e-05 9.99980288e-01 6.20462664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.231858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.84, Y:41.95, Z:0.62 [[ 6.98223967e-01 -7.15865554e-01 -4.44983629e-03 9.88365256e+01] [ 7.15851854e-01 6.98238140e-01 -4.42978696e-03 4.19492751e+01] [ 6.27817731e-03 -9.24401332e-05 9.99980288e-01 6.20875803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:41.97, Z:0.62 [[ 6.97368957e-01 -7.16698518e-01 -4.44662446e-03 9.88569493e+01] [ 7.16684814e-01 6.97383127e-01 -4.43301189e-03 4.19704272e+01] [ 6.27813392e-03 -9.53833434e-05 9.99980288e-01 6.20476594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:41.99, Z:0.62 [[ 6.96879311e-01 -7.17174622e-01 -4.44834469e-03 9.88763186e+01] [ 7.17160939e-01 6.96893501e-01 -4.43128503e-03 4.19906994e+01] [ 6.27802767e-03 -1.02108201e-04 9.99980288e-01 6.20073208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.321858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.90, Y:42.01, Z:0.62 [[ 6.96876326e-01 -7.17177531e-01 -4.44708843e-03 9.88955386e+01] [ 7.17163840e-01 6.96890508e-01 -4.43254541e-03 4.20103643e+01] [ 6.27805569e-03 -1.00355053e-04 9.99980288e-01 6.19130962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:42.03, Z:0.62 [[ 6.97527682e-01 -7.16544041e-01 -4.44646643e-03 9.89135760e+01] [ 7.16530333e-01 6.97541847e-01 -4.43316929e-03 4.20305975e+01] [ 6.27815744e-03 -9.37697771e-05 9.99980288e-01 6.17481797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:42.05, Z:0.62 [[ 6.96991079e-01 -7.17066120e-01 -4.42887886e-03 9.89339530e+01] [ 7.17052311e-01 6.97005147e-01 -4.45079975e-03 4.20523275e+01] [ 6.27846907e-03 -7.35700994e-05 9.99980288e-01 6.18961946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.411858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:98.95, Y:42.07, Z:0.62 [[ 6.97256299e-01 -7.16808128e-01 -4.44525751e-03 9.89535195e+01] [ 7.16794418e-01 6.97270463e-01 -4.43438093e-03 4.20727545e+01] [ 6.27814706e-03 -9.44357301e-05 9.99980288e-01 6.19006337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:42.09, Z:0.62 [[ 6.97272607e-01 -7.16792273e-01 -4.44402077e-03 9.89728876e+01] [ 7.16778554e-01 6.97286763e-01 -4.43562002e-03 4.20940825e+01] [ 6.27817501e-03 -9.25424442e-05 9.99980288e-01 6.20113556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:42.12, Z:0.62 [[ 6.96976337e-01 -7.17080363e-01 -4.44294253e-03 9.89931923e+01] [ 7.17066643e-01 6.96990491e-01 -4.43669977e-03 4.21157827e+01] [ 6.27815898e-03 -9.36111372e-05 9.99980288e-01 6.20915721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.01, Y:42.14, Z:0.62 [[ 6.97467169e-01 -7.16602905e-01 -4.45245618e-03 9.90118457e+01] [ 7.16589237e-01 6.97481373e-01 -4.42717411e-03 4.21358453e+01] [ 6.27803108e-03 -1.02773579e-04 9.99980288e-01 6.21708606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:42.16, Z:0.62 [[ 6.97688720e-01 -7.16387274e-01 -4.44119761e-03 9.90300175e+01] [ 7.16373529e-01 6.97702850e-01 -4.43843967e-03 4.21556380e+01] [ 6.27827793e-03 -8.49071122e-05 9.99980288e-01 6.22006840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:42.18, Z:0.62 [[ 6.99126081e-01 -7.14984619e-01 -4.44047273e-03 9.90488305e+01] [ 7.14970842e-01 6.99140179e-01 -4.43916477e-03 4.21771757e+01] [ 6.27844743e-03 -7.12726548e-05 9.99980288e-01 6.22239210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.591858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:99.07, Y:42.20, Z:0.62 [[ 6.99994908e-01 -7.14134037e-01 -4.43923854e-03 9.90677043e+01] [ 7.14120234e-01 7.00008981e-01 -4.44039864e-03 4.21974026e+01] [ 6.27854665e-03 -6.18936325e-05 9.99980288e-01 6.22440006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:42.22, Z:0.62 [[ 7.01855477e-01 -7.12305548e-01 -4.43800801e-03 9.90857418e+01] [ 7.12291701e-01 7.01869507e-01 -4.44162816e-03 4.22177015e+01] [ 6.27869888e-03 -4.37752249e-05 9.99980288e-01 6.21468778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.651858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.11, Y:42.24, Z:0.62 [[ 7.02792022e-01 -7.11381531e-01 -4.43735018e-03 9.91052179e+01] [ 7.11367662e-01 7.02806030e-01 -4.44228526e-03 4.22380626e+01] [ 6.27875616e-03 -3.45847787e-05 9.99980288e-01 6.21307865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:42.26, Z:0.62 [[ 7.03690261e-01 -7.10493024e-01 -4.43613679e-03 9.91240061e+01] [ 7.10479129e-01 7.03704243e-01 -4.44349664e-03 4.22574602e+01] [ 6.27880165e-03 -2.49372925e-05 9.99980288e-01 6.21295673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:42.28, Z:0.62 [[ 7.04464244e-01 -7.09725620e-01 -4.43547863e-03 9.91438340e+01] [ 7.09711705e-01 7.04478207e-01 -4.44415352e-03 4.22780460e+01] [ 6.27882764e-03 -1.71638517e-05 9.99980288e-01 6.21551453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:42.30, Z:0.62 [[ 7.05250578e-01 -7.08944257e-01 -4.43428275e-03 9.91631530e+01] [ 7.08930320e-01 7.05264518e-01 -4.44534643e-03 4.22977719e+01] [ 6.27884510e-03 -8.51434812e-06 9.99980288e-01 6.23149721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.18, Y:42.32, Z:0.62 [[ 7.07402454e-01 -7.06797082e-01 -4.43303357e-03 9.91820809e+01] [ 7.06783095e-01 7.07416344e-01 -4.44659179e-03 4.23168720e+01] [ 6.27883851e-03 1.23367561e-05 9.99980288e-01 6.23278618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:42.34, Z:0.62 [[ 7.08188897e-01 -7.06009094e-01 -4.43232596e-03 9.92018813e+01] [ 7.05995087e-01 7.08202767e-01 -4.44729702e-03 4.23364764e+01] [ 6.27881765e-03 2.03260140e-05 9.99980288e-01 6.23504522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.22, Y:42.36, Z:0.62 [[ 7.09086915e-01 -7.05107164e-01 -4.43114359e-03 9.92214335e+01] [ 7.05093132e-01 7.09100759e-01 -4.44847479e-03 4.23552051e+01] [ 6.27877872e-03 2.99863497e-05 9.99980288e-01 6.24049750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:42.37, Z:0.62 [[ 7.10841452e-01 -7.03338326e-01 -4.43050361e-03 9.92418350e+01] [ 7.03324256e-01 7.10855257e-01 -4.44911209e-03 4.23742224e+01] [ 6.27867783e-03 4.65326367e-05 9.99980288e-01 6.23985412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:42.39, Z:0.62 [[ 7.11931580e-01 -7.02234887e-01 -4.42597250e-03 9.92607427e+01] [ 7.02220767e-01 7.11945335e-01 -4.45362221e-03 4.23928077e+01] [ 6.27853936e-03 6.26644914e-05 9.99980288e-01 6.24547469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:42.41, Z:0.62 [[ 7.11807770e-01 -7.02360540e-01 -4.40116900e-03 9.92801149e+01] [ 7.02346270e-01 7.11821370e-01 -4.47829190e-03 4.24124069e+01] [ 6.27822167e-03 9.65383367e-05 9.99980287e-01 6.24706302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:42.43, Z:0.63 [[ 7.10682474e-01 -7.03499157e-01 -4.39973150e-03 9.93012508e+01] [ 7.03484899e-01 7.10696087e-01 -4.47972098e-03 4.24335624e+01] [ 6.27835189e-03 8.85145167e-05 9.99980287e-01 6.25771671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:42.45, Z:0.63 [[ 7.10825490e-01 -7.03354481e-01 -4.42678745e-03 9.93222948e+01] [ 7.03340388e-01 7.10839272e-01 -4.45282322e-03 4.24517586e+01] [ 6.27864754e-03 5.16418427e-05 9.99980288e-01 6.26766271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:42.47, Z:0.63 [[ 7.10516850e-01 -7.03666271e-01 -4.42557836e-03 9.93428565e+01] [ 7.03652176e-01 7.10530630e-01 -4.45402459e-03 4.24713346e+01] [ 6.27865586e-03 5.05916742e-05 9.99980288e-01 6.27139357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.041858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.36, Y:42.49, Z:0.63 [[ 7.10206899e-01 -7.03979109e-01 -4.42432107e-03 9.93622335e+01] [ 7.03965012e-01 7.10220678e-01 -4.45527314e-03 4.24895954e+01] [ 6.27866353e-03 4.95984847e-05 9.99980288e-01 6.26625004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:42.51, Z:0.63 [[ 7.09704887e-01 -7.04485206e-01 -4.42364348e-03 9.93816973e+01] [ 7.04471115e-01 7.09718671e-01 -4.45594582e-03 4.25078783e+01] [ 6.27869029e-03 4.60774678e-05 9.99980288e-01 6.26121494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:42.53, Z:0.63 [[ 7.09092021e-01 -7.05102080e-01 -4.42296442e-03 9.94021240e+01] [ 7.05087997e-01 7.09105814e-01 -4.45661976e-03 4.25271520e+01] [ 6.27872165e-03 4.15743929e-05 9.99980288e-01 6.25983425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:42.55, Z:0.62 [[ 7.08446013e-01 -7.05751156e-01 -4.42176979e-03 9.94223439e+01] [ 7.05737078e-01 7.08459811e-01 -4.45780473e-03 4.25455377e+01] [ 6.27874703e-03 3.75071019e-05 9.99980288e-01 6.24822536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.161858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.44, Y:42.57, Z:0.63 [[ 7.07772908e-01 -7.06426193e-01 -4.42095927e-03 9.94429657e+01] [ 7.06412123e-01 7.07786715e-01 -4.45860841e-03 4.25651119e+01] [ 6.27877400e-03 3.26630155e-05 9.99980288e-01 6.25475546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.191858064 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:99.46, Y:42.58, Z:0.62 [[ 7.06489845e-01 -7.07709379e-01 -4.41972370e-03 9.94637655e+01] [ 7.07695326e-01 7.06503669e-01 -4.45983287e-03 4.25849622e+01] [ 6.27881656e-03 2.30088267e-05 9.99980288e-01 6.21965320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:42.60, Z:0.63 [[ 7.04689710e-01 -7.09501748e-01 -4.43645441e-03 9.94854126e+01] [ 7.09487835e-01 7.04703675e-01 -4.44326032e-03 4.26024965e+01] [ 6.27888669e-03 -1.64906096e-05 9.99980287e-01 6.27702317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:42.62, Z:0.63 [[ 7.03203118e-01 -7.10975295e-01 -4.41647175e-03 9.95057130e+01] [ 7.10961287e-01 7.03216986e-01 -4.46303451e-03 4.26219134e+01] [ 6.27884523e-03 -1.52065324e-06 9.99980288e-01 6.28192175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:42.64, Z:0.63 [[ 7.01671372e-01 -7.12487046e-01 -4.41520305e-03 9.95262458e+01] [ 7.12473060e-01 7.01685263e-01 -4.46428925e-03 4.26416288e+01] [ 6.27883118e-03 -1.32492629e-05 9.99980288e-01 6.29012025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:42.66, Z:0.63 [[ 6.98994881e-01 -7.15113050e-01 -4.41392707e-03 9.95466383e+01] [ 7.15099108e-01 6.99008816e-01 -4.46555048e-03 4.26603863e+01] [ 6.27874736e-03 -3.49983855e-05 9.99980288e-01 6.29862566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:42.68, Z:0.63 [[ 6.97745485e-01 -7.16332158e-01 -4.41326579e-03 9.95663428e+01] [ 7.16318237e-01 6.97759440e-01 -4.46620393e-03 4.26798021e+01] [ 6.27868337e-03 -4.50291458e-05 9.99980288e-01 6.30554412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:42.70, Z:0.63 [[ 6.96758616e-01 -7.17292106e-01 -4.41201076e-03 9.95855943e+01] [ 7.17278195e-01 6.96772583e-01 -4.46744338e-03 4.26990979e+01] [ 6.27863001e-03 -5.19094477e-05 9.99980288e-01 6.30873949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:42.72, Z:0.63 [[ 6.95623018e-01 -7.18393456e-01 -4.41130719e-03 9.96052555e+01] [ 7.18379563e-01 6.95637002e-01 -4.46813801e-03 4.27195842e+01] [ 6.27854961e-03 -6.08532917e-05 9.99980288e-01 6.31764616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.62, Y:42.74, Z:0.63 [[ 6.95045778e-01 -7.18951958e-01 -4.41006374e-03 9.96248996e+01] [ 7.18938069e-01 6.95059766e-01 -4.46936495e-03 4.27400397e+01] [ 6.27851656e-03 -6.41494690e-05 9.99980288e-01 6.32109363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:42.76, Z:0.63 [[ 6.94823727e-01 -7.19166566e-01 -4.40882906e-03 9.96442208e+01] [ 7.19152674e-01 6.94837712e-01 -4.47058258e-03 4.27603063e+01] [ 6.27851422e-03 -6.43543519e-05 9.99980288e-01 6.32235628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:42.78, Z:0.63 [[ 6.94613705e-01 -7.19369428e-01 -4.40758117e-03 9.96625132e+01] [ 7.19355531e-01 6.94627686e-01 -4.47181255e-03 4.27802002e+01] [ 6.27851314e-03 -6.44356117e-05 9.99980288e-01 6.31638582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.521858064 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:99.68, Y:42.80, Z:0.63 [[ 6.95689852e-01 -7.18328761e-01 -4.40688177e-03 9.96811153e+01] [ 7.18314840e-01 6.95703807e-01 -4.47250169e-03 4.28010302e+01] [ 6.27861102e-03 -5.40545304e-05 9.99980288e-01 6.28741481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.551858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.70, Y:42.82, Z:0.63 [[ 6.96171035e-01 -7.17862509e-01 -4.39421860e-03 9.96997501e+01] [ 7.17848499e-01 6.96184902e-01 -4.48497155e-03 4.28209102e+01] [ 6.27878157e-03 -3.20759391e-05 9.99980288e-01 6.28347027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:42.84, Z:0.63 [[ 6.96705244e-01 -7.17344062e-01 -4.39323194e-03 9.97190030e+01] [ 7.17330036e-01 6.96719094e-01 -4.48594325e-03 4.28425714e+01] [ 6.27881333e-03 -2.60170382e-05 9.99980288e-01 6.29836465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.611858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:99.74, Y:42.86, Z:0.63 [[ 6.97488194e-01 -7.16582733e-01 -4.40517266e-03 9.97371987e+01] [ 7.16568766e-01 6.97502104e-01 -4.47418671e-03 4.28622786e+01] [ 6.27874214e-03 -3.59167331e-05 9.99980288e-01 6.29256496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641858064 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:99.75, Y:42.88, Z:0.63 [[ 6.98821987e-01 -7.15282064e-01 -4.40449459e-03 9.97549286e+01] [ 7.15268066e-01 6.98835867e-01 -4.47485412e-03 4.28822289e+01] [ 6.27880168e-03 -2.32678847e-05 9.99980288e-01 6.25357199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:42.90, Z:0.63 [[ 6.98923028e-01 -7.15183367e-01 -4.39922713e-03 9.97733514e+01] [ 7.15169335e-01 6.98936872e-01 -4.48003621e-03 4.29041563e+01] [ 6.27882944e-03 -1.49918705e-05 9.99980288e-01 6.28936275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:42.92, Z:0.63 [[ 7.02154854e-01 -7.12010658e-01 -4.40265535e-03 9.97894695e+01] [ 7.11996585e-01 7.02168657e-01 -4.47666467e-03 4.29233068e+01] [ 6.27883955e-03 8.63625714e-06 9.99980288e-01 6.31202999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:42.95, Z:0.63 [[ 7.00810345e-01 -7.13334243e-01 -4.37249650e-03 9.98100079e+01] [ 7.13320010e-01 7.00823984e-01 -4.50630980e-03 4.29464747e+01] [ 6.27885551e-03 3.90792774e-05 9.99980287e-01 6.31760673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:42.97, Z:0.63 [[ 7.01455228e-01 -7.12699930e-01 -4.40141147e-03 9.98291385e+01] [ 7.12685863e-01 7.01469037e-01 -4.47788867e-03 4.29664810e+01] [ 6.27884481e-03 4.21469384e-06 9.99980288e-01 6.31794296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:42.99, Z:0.63 [[ 7.01821262e-01 -7.12339464e-01 -4.40512274e-03 9.98474702e+01] [ 7.12325412e-01 7.01835086e-01 -4.47424194e-03 4.29880715e+01] [ 6.27884880e-03 2.23725210e-06 9.99980288e-01 6.33689641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.821858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:99.87, Y:43.01, Z:0.63 [[ 7.01854491e-01 -7.12306756e-01 -4.39981994e-03 9.98663394e+01] [ 7.12292671e-01 7.01868282e-01 -4.47945047e-03 4.30087521e+01] [ 6.27883689e-03 9.96293886e-06 9.99980288e-01 6.33853765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:43.03, Z:0.63 [[ 7.01683337e-01 -7.12475366e-01 -4.39862378e-03 9.98851224e+01] [ 7.12461277e-01 7.01697124e-01 -4.48062474e-03 4.30297907e+01] [ 6.27883640e-03 1.01306029e-05 9.99980288e-01 6.34244969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.881858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.90, Y:43.05, Z:0.63 [[ 7.01068488e-01 -7.13080387e-01 -4.39736883e-03 9.99027292e+01] [ 7.13066302e-01 7.01082279e-01 -4.48185603e-03 4.30524737e+01] [ 6.27884099e-03 6.47250331e-06 9.99980288e-01 6.33144559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:43.07, Z:0.63 [[ 7.00606571e-01 -7.13534237e-01 -4.39611154e-03 9.99212016e+01] [ 7.13520153e-01 7.00620363e-01 -4.48308893e-03 4.30735369e+01] [ 6.27884270e-03 4.16738084e-06 9.99980288e-01 6.32860178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:43.09, Z:0.63 [[ 7.00380787e-01 -7.13755867e-01 -4.39484574e-03 9.99401313e+01] [ 7.13741780e-01 7.00394576e-01 -4.48432947e-03 4.30937823e+01] [ 6.27884259e-03 3.95318518e-06 9.99980288e-01 6.32633957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.96, Y:43.11, Z:0.63 [[ 7.00255478e-01 -7.13878815e-01 -4.39356926e-03 9.99588858e+01] [ 7.13864722e-01 7.00269261e-01 -4.48557976e-03 4.31134053e+01] [ 6.27884186e-03 4.63770044e-06 9.99980288e-01 6.32472337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:43.13, Z:0.63 [[ 6.99723047e-01 -7.14400700e-01 -4.39288199e-03 9.99777181e+01] [ 7.14386614e-01 6.99736836e-01 -4.48625273e-03 4.31342225e+01] [ 6.27884344e-03 9.18342582e-07 9.99980288e-01 6.33208344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.031858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.00, Y:43.15, Z:0.63 [[ 6.99455728e-01 -7.14662437e-01 -4.39161932e-03 9.99957469e+01] [ 7.14648348e-01 6.99469514e-01 -4.48748842e-03 4.31544067e+01] [ 6.27884324e-03 3.35986697e-07 9.99980288e-01 6.33346239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.02, Y:43.18, Z:0.63 [[ 6.98856936e-01 -7.15248001e-01 -4.39092341e-03 1.00015727e+02] [ 7.15233919e-01 6.98870730e-01 -4.48816925e-03 4.31771283e+01] [ 6.27884194e-03 -3.94915148e-06 9.99980288e-01 6.32906529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.091858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.04, Y:43.20, Z:0.63 [[ 6.99230815e-01 -7.14882425e-01 -4.40307581e-03 1.00035841e+02] [ 7.14868410e-01 6.99244677e-01 -4.47628634e-03 4.31989514e+01] [ 6.27884575e-03 -1.76624660e-05 9.99980288e-01 6.33100236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:43.22, Z:0.63 [[ 6.97168358e-01 -7.16893866e-01 -4.41190603e-03 1.00051826e+02] [ 7.16879946e-01 6.97182317e-01 -4.46765965e-03 4.32201081e+01] [ 6.27874066e-03 -4.80960142e-05 9.99980287e-01 6.34739444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:43.24, Z:0.64 [[ 6.96225686e-01 -7.17809556e-01 -4.38590895e-03 1.00071336e+02] [ 7.17795494e-01 6.96239500e-01 -4.49303688e-03 4.32406114e+01] [ 6.27878786e-03 -2.00179976e-05 9.99980288e-01 6.35747069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:43.26, Z:0.64 [[ 6.94411163e-01 -7.19565085e-01 -4.38465722e-03 1.00089585e+02] [ 7.19551050e-01 6.94425005e-01 -4.49425809e-03 4.32605539e+01] [ 6.27872681e-03 -3.41217194e-05 9.99980288e-01 6.37251244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:43.28, Z:0.64 [[ 6.93244391e-01 -7.20689250e-01 -4.38394926e-03 1.00108517e+02] [ 7.20675234e-01 6.93258251e-01 -4.49494856e-03 4.32816172e+01] [ 6.27867011e-03 -4.33057816e-05 9.99980288e-01 6.37786456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.241858064 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:100.13, Y:43.30, Z:0.64 [[ 6.92313369e-01 -7.21583666e-01 -4.38312584e-03 1.00126543e+02] [ 7.21569662e-01 6.92327243e-01 -4.49575136e-03 4.33024736e+01] [ 6.27861817e-03 -5.02618573e-05 9.99980288e-01 6.37620723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.271858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.14, Y:43.32, Z:0.64 [[ 6.90468040e-01 -7.23349627e-01 -4.38197350e-03 1.00143474e+02] [ 7.23335652e-01 6.90481942e-01 -4.49687412e-03 4.33249465e+01] [ 6.27848579e-03 -6.46897976e-05 9.99980288e-01 6.38522547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:43.35, Z:0.64 [[ 6.90351623e-01 -7.23460745e-01 -4.38026070e-03 1.00164270e+02] [ 7.23446761e-01 6.90365517e-01 -4.49854188e-03 4.33463404e+01] [ 6.27849940e-03 -6.33097245e-05 9.99980288e-01 6.38925440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:43.37, Z:0.64 [[ 6.90028139e-01 -7.23769165e-01 -4.40037108e-03 1.00180731e+02] [ 7.23755312e-01 6.90042163e-01 -4.47896430e-03 4.33661618e+01] [ 6.27817783e-03 -9.41805394e-05 9.99980288e-01 6.39086116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.361858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.20, Y:43.39, Z:0.64 [[ 6.90096796e-01 -7.23703836e-01 -4.37840025e-03 1.00199298e+02] [ 7.23689846e-01 6.90110682e-01 -4.50033982e-03 4.33883292e+01] [ 6.27849398e-03 -6.29337093e-05 9.99980288e-01 6.39174135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:43.41, Z:0.64 [[ 6.89720973e-01 -7.24061981e-01 -4.38482424e-03 1.00217826e+02] [ 7.24048038e-01 6.89734907e-01 -4.49409377e-03 4.34097102e+01] [ 6.27836878e-03 -7.51526584e-05 9.99980288e-01 6.39136886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:100.24, Y:43.43, Z:0.64 [[ 6.90812957e-01 -7.23020237e-01 -4.38112515e-03 1.00235233e+02] [ 7.23006250e-01 6.90826847e-01 -4.49768749e-03 4.34298414e+01] [ 6.27851795e-03 -6.05200748e-05 9.99980288e-01 6.39995783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.25, Y:43.45, Z:0.64 [[ 6.91372659e-01 -7.22485095e-01 -4.37430963e-03 1.00253220e+02] [ 7.22471055e-01 6.91386495e-01 -4.50430631e-03 4.34511481e+01] [ 6.27863278e-03 -4.61578624e-05 9.99980288e-01 6.39774515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:43.47, Z:0.64 [[ 6.93260500e-01 -7.20673821e-01 -4.37304805e-03 1.00272770e+02] [ 7.20659737e-01 6.93274292e-01 -4.50553080e-03 4.34738863e+01] [ 6.27873988e-03 -2.79731216e-05 9.99980288e-01 6.39600887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:43.49, Z:0.64 [[ 6.92978044e-01 -7.20945316e-01 -4.39107795e-03 1.00289837e+02] [ 7.20931349e-01 6.92991954e-01 -4.48803456e-03 4.34944440e+01] [ 6.27860918e-03 -5.55563389e-05 9.99980288e-01 6.40203360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.541858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.31, Y:43.51, Z:0.64 [[ 6.94030919e-01 -7.19931923e-01 -4.37140406e-03 1.00308063e+02] [ 7.19917815e-01 6.94044685e-01 -4.50711291e-03 4.35138344e+01] [ 6.27876422e-03 -1.89759447e-05 9.99980288e-01 6.41922685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.571858064 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:100.33, Y:43.54, Z:0.64 [[ 6.95097314e-01 -7.18902376e-01 -4.37012011e-03 1.00326258e+02] [ 7.18888239e-01 6.95111052e-01 -4.50835750e-03 4.35353635e+01] [ 6.27878770e-03 -7.88076256e-06 9.99980288e-01 6.42902912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.601858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.34, Y:43.56, Z:0.64 [[ 6.95650681e-01 -7.18366920e-01 -4.37016362e-03 1.00344351e+02] [ 7.18352773e-01 6.95664408e-01 -4.50831534e-03 4.35560798e+01] [ 6.27879189e-03 -3.10651733e-06 9.99980288e-01 6.43572873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.631858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.36, Y:43.58, Z:0.64 [[ 6.96125208e-01 -7.17907113e-01 -4.36713575e-03 1.00362462e+02] [ 7.17892939e-01 6.96138906e-01 -4.51124649e-03 4.35770382e+01] [ 6.27878905e-03 5.25647969e-06 9.99980288e-01 6.43725572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:43.60, Z:0.64 [[ 6.97221926e-01 -7.16842051e-01 -4.36585605e-03 1.00379356e+02] [ 7.16827848e-01 6.97235594e-01 -4.51248461e-03 4.35987088e+01] [ 6.27876896e-03 1.66360095e-05 9.99980288e-01 6.44498650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:43.62, Z:0.65 [[ 6.97314548e-01 -7.16751957e-01 -4.36498555e-03 1.00397819e+02] [ 7.16737747e-01 6.97328209e-01 -4.51332650e-03 4.36197175e+01] [ 6.27876316e-03 1.86583189e-05 9.99980288e-01 6.45109547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:43.64, Z:0.65 [[ 6.97080741e-01 -7.16979339e-01 -4.36665885e-03 1.00416366e+02] [ 7.16965144e-01 6.97094417e-01 -4.51170858e-03 4.36403437e+01] [ 6.27877534e-03 1.42829659e-05 9.99980288e-01 6.45014360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:43.66, Z:0.65 [[ 6.96511424e-01 -7.17532452e-01 -4.36068829e-03 1.00435854e+02] [ 7.17518232e-01 6.96525075e-01 -4.51747939e-03 4.36614051e+01] [ 6.27876680e-03 1.76026517e-05 9.99980288e-01 6.45488912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:43.68, Z:0.64 [[ 6.95560714e-01 -7.18454074e-01 -4.36301332e-03 1.00453817e+02] [ 7.18439886e-01 6.95574398e-01 -4.51523274e-03 4.36824868e+01] [ 6.27878772e-03 6.05571617e-06 9.99980288e-01 6.44436900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:43.70, Z:0.64 [[ 6.95368200e-01 -7.18640447e-01 -4.35583603e-03 1.00473579e+02] [ 7.18626219e-01 6.95381843e-01 -4.52216573e-03 4.37031352e+01] [ 6.27878049e-03 1.43522628e-05 9.99980288e-01 6.44612755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:43.72, Z:0.64 [[ 6.94489807e-01 -7.19489365e-01 -4.35449265e-03 1.00491911e+02] [ 7.19475146e-01 6.94503458e-01 -4.52346265e-03 4.37236776e+01] [ 6.27879347e-03 8.54946325e-06 9.99980288e-01 6.44273686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:43.75, Z:0.64 [[ 6.93255902e-01 -7.20678352e-01 -4.35515372e-03 1.00510927e+02] [ 7.20664160e-01 6.93269582e-01 -4.52282453e-03 4.37451125e+01] [ 6.27879732e-03 -3.12839547e-06 9.99980288e-01 6.44298827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.901858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.53, Y:43.77, Z:0.64 [[ 6.92300278e-01 -7.21596367e-01 -4.35985930e-03 1.00529377e+02] [ 7.21582221e-01 6.92314006e-01 -4.51828394e-03 4.37661136e+01] [ 6.27876893e-03 -1.79877319e-05 9.99980288e-01 6.44204555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.55, Y:43.79, Z:0.64 [[ 6.89294080e-01 -7.24468575e-01 -4.35370262e-03 1.00548430e+02] [ 7.24454449e-01 6.89307828e-01 -4.52422299e-03 4.37879918e+01] [ 6.27869868e-03 -3.55391049e-05 9.99980288e-01 6.44924368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.961858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:100.57, Y:43.81, Z:0.64 [[ 6.87377690e-01 -7.26287075e-01 -4.35838415e-03 1.00568052e+02] [ 7.26273014e-01 6.87391505e-01 -4.51970856e-03 4.38089259e+01] [ 6.27852215e-03 -5.86299669e-05 9.99980288e-01 6.44930139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.991858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.59, Y:43.83, Z:0.65 [[ 6.85458523e-01 -7.28098579e-01 -4.36729842e-03 1.00587076e+02] [ 7.28084609e-01 6.85472430e-01 -4.51111357e-03 4.38292066e+01] [ 6.27819804e-03 -8.75815247e-05 9.99980288e-01 6.45425357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:43.85, Z:0.64 [[ 6.84492945e-01 -7.29006430e-01 -4.36274276e-03 1.00611348e+02] [ 7.28992451e-01 6.84506842e-01 -4.51550388e-03 4.38500240e+01] [ 6.27815864e-03 -8.95759926e-05 9.99980288e-01 6.43893271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:43.87, Z:0.64 [[ 6.80704179e-01 -7.32545132e-01 -4.41016773e-03 1.00624396e+02] [ 7.32531519e-01 6.80718439e-01 -4.46984345e-03 4.38715767e+01] [ 6.27644455e-03 -1.87945751e-04 9.99980285e-01 6.44999832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.081858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:100.64, Y:43.89, Z:0.64 [[ 6.79194052e-01 -7.33945866e-01 -4.34801061e-03 1.00642999e+02] [ 7.33931898e-01 6.79207959e-01 -4.52961109e-03 4.38930224e+01] [ 6.27769275e-03 -1.14658763e-04 9.99980289e-01 6.44238289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:43.92, Z:0.64 [[ 6.77887131e-01 -7.35153117e-01 -4.35112335e-03 1.00660114e+02] [ 7.35139192e-01 6.77901082e-01 -4.52661903e-03 4.39157730e+01] [ 6.27738932e-03 -1.30144514e-04 9.99980289e-01 6.42922866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:43.94, Z:0.64 [[ 6.77366951e-01 -7.35632444e-01 -4.34983308e-03 1.00679054e+02] [ 7.35618521e-01 6.77380905e-01 -4.52785856e-03 4.39379991e+01] [ 6.27733353e-03 -1.32796027e-04 9.99980289e-01 6.41689874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:43.96, Z:0.64 [[ 6.77745082e-01 -7.35284071e-01 -4.35201878e-03 1.00696454e+02] [ 7.35270154e-01 6.77759041e-01 -4.52575934e-03 4.39582172e+01] [ 6.27733882e-03 -1.32598388e-04 9.99980289e-01 6.42175584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:43.98, Z:0.64 [[ 6.77825724e-01 -7.35209753e-01 -4.34811385e-03 1.00714773e+02] [ 7.35195811e-01 6.77839659e-01 -4.52950789e-03 4.39787195e+01] [ 6.27746238e-03 -1.26498122e-04 9.99980289e-01 6.43115200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:44.00, Z:0.64 [[ 6.77852089e-01 -7.35185438e-01 -4.34933058e-03 1.00733570e+02] [ 7.35171503e-01 6.77866031e-01 -4.52834013e-03 4.39999879e+01] [ 6.27743318e-03 -1.27959086e-04 9.99980289e-01 6.43155986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.75, Y:44.02, Z:0.64 [[ 6.78522121e-01 -7.34567110e-01 -4.34648823e-03 1.00750164e+02] [ 7.34553145e-01 6.78536032e-01 -4.53106669e-03 4.40214629e+01] [ 6.27762144e-03 -1.18297620e-04 9.99980289e-01 6.43535688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.291858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:100.77, Y:44.04, Z:0.64 [[ 6.78642698e-01 -7.34455718e-01 -4.34578504e-03 1.00768425e+02] [ 7.34441747e-01 6.78656603e-01 -4.53174102e-03 4.40429490e+01] [ 6.27765882e-03 -1.16293002e-04 9.99980289e-01 6.43790536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:44.06, Z:0.64 [[ 6.79214520e-01 -7.33926945e-01 -4.34454532e-03 1.00787011e+02] [ 7.33912955e-01 6.79228406e-01 -4.53292923e-03 4.40644191e+01] [ 6.27777749e-03 -1.09686748e-04 9.99980289e-01 6.43782648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.351858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:100.80, Y:44.09, Z:0.64 [[ 6.79444089e-01 -7.33714480e-01 -4.33501110e-03 1.00804669e+02] [ 7.33700427e-01 6.79457911e-01 -4.54206169e-03 4.40861180e+01] [ 6.27803402e-03 -9.45225270e-05 9.99980288e-01 6.44658015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:44.11, Z:0.64 [[ 6.80793944e-01 -7.32462112e-01 -4.34286214e-03 1.00827400e+02] [ 7.32448082e-01 6.80807789e-01 -4.53454252e-03 4.41076471e+01] [ 6.27803496e-03 -9.38319563e-05 9.99980289e-01 6.44815027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:44.13, Z:0.64 [[ 6.80596136e-01 -7.32645761e-01 -4.36904755e-03 1.00842998e+02] [ 7.32631895e-01 6.80610147e-01 -4.50945961e-03 4.41276618e+01] [ 6.27745456e-03 -1.31782800e-04 9.99980288e-01 6.44913530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:44.15, Z:0.64 [[ 6.81549123e-01 -7.31759507e-01 -4.33788291e-03 1.00862026e+02] [ 7.31745432e-01 6.81562922e-01 -4.53928747e-03 4.41501786e+01] [ 6.27820691e-03 -8.04786089e-05 9.99980289e-01 6.43343113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:44.17, Z:0.64 [[ 6.82313803e-01 -7.31046532e-01 -4.34074422e-03 1.00880718e+02] [ 7.31032460e-01 6.82327606e-01 -4.53654965e-03 4.41707693e+01] [ 6.27823851e-03 -7.78744780e-05 9.99980289e-01 6.43222866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:44.19, Z:0.64 [[ 6.83398064e-01 -7.30033051e-01 -4.33949294e-03 1.00899014e+02] [ 7.30018951e-01 6.83411838e-01 -4.53774627e-03 4.41906723e+01] [ 6.27836560e-03 -6.68250723e-05 9.99980289e-01 6.43125875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.531858064 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.92, Y:44.21, Z:0.64 [[ 6.85746794e-01 -7.27827269e-01 -4.33596217e-03 1.00917944e+02] [ 7.27813104e-01 6.85760501e-01 -4.54112148e-03 4.42119174e+01] [ 6.27858364e-03 -4.17105875e-05 9.99980289e-01 6.42578790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.94, Y:44.23, Z:0.64 [[ 6.87949250e-01 -7.25745830e-01 -4.33805595e-03 1.00935722e+02] [ 7.25731636e-01 6.87962927e-01 -4.53912045e-03 4.42306956e+01] [ 6.27866941e-03 -2.55799308e-05 9.99980289e-01 6.41727237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.591858064 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.96, Y:44.25, Z:0.64 [[ 6.88443161e-01 -7.25277436e-01 -4.31912913e-03 1.00956243e+02] [ 7.25263119e-01 6.88456709e-01 -4.55719915e-03 4.42523139e+01] [ 6.27876714e-03 4.86751779e-06 9.99980288e-01 6.42732299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:44.27, Z:0.64 [[ 6.90937949e-01 -7.22901060e-01 -4.33680207e-03 1.00975774e+02] [ 7.22886802e-01 6.90951559e-01 -4.54031838e-03 4.42730515e+01] [ 6.27872113e-03 2.06129004e-06 9.99980289e-01 6.43239778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.651858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.00, Y:44.29, Z:0.64 [[ 6.91843729e-01 -7.22034249e-01 -4.33550999e-03 1.00995152e+02] [ 7.22019966e-01 6.91857314e-01 -4.54155185e-03 4.42940525e+01] [ 6.27871027e-03 1.17193877e-05 9.99980289e-01 6.43481977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.681858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.01, Y:44.31, Z:0.64 [[ 6.92608520e-01 -7.21300668e-01 -4.33420806e-03 1.01014037e+02] [ 7.21286362e-01 6.92622081e-01 -4.54279399e-03 4.43143537e+01] [ 6.27868855e-03 2.01726540e-05 9.99980289e-01 6.43403657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:44.33, Z:0.64 [[ 6.93400296e-01 -7.20539559e-01 -4.33291463e-03 1.01033408e+02] [ 7.20525231e-01 6.93413833e-01 -4.54402733e-03 4.43336443e+01] [ 6.27865439e-03 2.88555815e-05 9.99980289e-01 6.44005044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.741858064 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:101.05, Y:44.35, Z:0.64 [[ 6.92872170e-01 -7.21047423e-01 -4.33235419e-03 1.01053010e+02] [ 7.21033102e-01 6.92885714e-01 -4.54456161e-03 4.43537121e+01] [ 6.27867076e-03 2.50294861e-05 9.99980289e-01 6.44076520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.771858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.07, Y:44.37, Z:0.64 [[ 6.92118044e-01 -7.21771332e-01 -4.33105383e-03 1.01072929e+02] [ 7.21757017e-01 6.92131595e-01 -4.54580054e-03 4.43733741e+01] [ 6.27868770e-03 2.02620864e-05 9.99980289e-01 6.44301190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.801858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.09, Y:44.39, Z:0.64 [[ 6.91058794e-01 -7.22785581e-01 -4.32975778e-03 1.01092764e+02] [ 7.22771279e-01 6.91072358e-01 -4.54703466e-03 4.43931152e+01] [ 6.27870700e-03 1.28437185e-05 9.99980289e-01 6.44114749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:44.41, Z:0.64 [[ 6.89103896e-01 -7.24649629e-01 -4.32845348e-03 1.01113143e+02] [ 7.24635355e-01 6.89117490e-01 -4.54827592e-03 4.44114454e+01] [ 6.27871945e-03 -2.31576584e-06 9.99980289e-01 6.44531221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:44.43, Z:0.64 [[ 6.87826433e-01 -7.25862292e-01 -4.32788871e-03 1.01133168e+02] [ 7.25848039e-01 6.87840049e-01 -4.54881326e-03 4.44310280e+01] [ 6.27870720e-03 -1.25955269e-05 9.99980289e-01 6.44876479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:44.45, Z:0.64 [[ 6.85979749e-01 -7.27607768e-01 -4.32658210e-03 1.01153116e+02] [ 7.27593542e-01 6.85993393e-01 -4.55005569e-03 4.44492783e+01] [ 6.27866260e-03 -2.67471356e-05 9.99980289e-01 6.44038344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.17, Y:44.47, Z:0.64 [[ 6.85071398e-01 -7.28463084e-01 -4.32601611e-03 1.01172547e+02] [ 7.28448872e-01 6.85085056e-01 -4.55059376e-03 4.44680664e+01] [ 6.27862855e-03 -3.37999264e-05 9.99980289e-01 6.43845456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:44.49, Z:0.64 [[ 6.84525715e-01 -7.28975882e-01 -4.32545664e-03 1.01192817e+02] [ 7.28961676e-01 6.84539380e-01 -4.55112548e-03 4.44875160e+01] [ 6.27860612e-03 -3.77297022e-05 9.99980289e-01 6.44490257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.981858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.21, Y:44.51, Z:0.64 [[ 6.80373878e-01 -7.32852483e-01 -4.31554659e-03 1.01206487e+02] [ 7.32838295e-01 6.80387562e-01 -4.56054220e-03 4.45070619e+01] [ 6.27844890e-03 -5.97240271e-05 9.99980289e-01 6.41728094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:44.53, Z:0.65 [[ 6.82859962e-01 -7.30536947e-01 -4.24746706e-03 1.01235126e+02] [ 7.30522308e-01 6.82873170e-01 -4.62518380e-03 4.45264554e+01] [ 6.27934895e-03 5.54833964e-05 9.99980283e-01 6.45627875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:44.55, Z:0.65 [[ 6.82437659e-01 -7.30931005e-01 -4.32528207e-03 1.01255089e+02] [ 7.30916837e-01 6.82451364e-01 -4.55123204e-03 4.45466265e+01] [ 6.27843125e-03 -5.54893500e-05 9.99980289e-01 6.45796479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.071858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.27, Y:44.57, Z:0.65 [[ 6.82148983e-01 -7.31200429e-01 -4.32399562e-03 1.01274422e+02] [ 7.31186259e-01 6.82162685e-01 -4.55245392e-03 4.45664522e+01] [ 6.27842473e-03 -5.61943674e-05 9.99980289e-01 6.45416377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.101858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.29, Y:44.59, Z:0.64 [[ 6.82138548e-01 -7.31210172e-01 -4.32271511e-03 1.01294080e+02] [ 7.31195994e-01 6.82152242e-01 -4.55366949e-03 4.45863220e+01] [ 6.27843926e-03 -5.45184769e-05 9.99980289e-01 6.44868446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:44.61, Z:0.64 [[ 6.77200302e-01 -7.35786026e-01 -4.32143112e-03 1.01302398e+02] [ 7.35771933e-01 6.77214084e-01 -4.55488767e-03 4.46059284e+01] [ 6.27795671e-03 -9.50164249e-05 9.99980289e-01 6.39806557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:44.63, Z:0.64 [[ 6.82774510e-01 -7.30616998e-01 -4.21560451e-03 1.01334137e+02] [ 7.30602174e-01 6.82787517e-01 -4.65514818e-03 4.46262638e+01] [ 6.27949252e-03 9.84866919e-05 9.99980279e-01 6.44014150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.191858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.35, Y:44.65, Z:0.64 [[ 6.82313342e-01 -7.31047080e-01 -4.32086708e-03 1.01354687e+02] [ 7.31032889e-01 6.82327022e-01 -4.55530298e-03 4.46474610e+01] [ 6.27838531e-03 -5.05519393e-05 9.99980289e-01 6.44631250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.221858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:101.38, Y:44.67, Z:0.65 [[ 6.81643815e-01 -7.31671342e-01 -4.33098769e-03 1.01375333e+02] [ 7.31657224e-01 6.81657570e-01 -4.54570670e-03 4.46674403e+01] [ 6.27821386e-03 -7.02455735e-05 9.99980289e-01 6.45560534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.251858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.40, Y:44.69, Z:0.65 [[ 6.81814352e-01 -7.31512431e-01 -4.33035901e-03 1.01395275e+02] [ 7.31498307e-01 6.81828100e-01 -4.54630239e-03 4.46875437e+01] [ 6.27823717e-03 -6.79160628e-05 9.99980289e-01 6.45324917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.41, Y:44.71, Z:0.64 [[ 6.76047260e-01 -7.36845616e-01 -4.31740532e-03 1.01405712e+02] [ 7.36831521e-01 6.76061039e-01 -4.55857079e-03 4.47090863e+01] [ 6.27779242e-03 -9.93910373e-05 9.99980290e-01 6.43075333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:44.73, Z:0.65 [[ 6.81614938e-01 -7.31698697e-01 -4.25356993e-03 1.01434960e+02] [ 7.31684118e-01 6.81628209e-01 -4.61901850e-03 4.47282640e+01] [ 6.27908307e-03 3.61224492e-05 9.99980286e-01 6.47265653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.341858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.45, Y:44.75, Z:0.65 [[ 6.79311904e-01 -7.33836964e-01 -4.31826660e-03 1.01448536e+02] [ 7.33822814e-01 6.79325625e-01 -4.55772090e-03 4.47485217e+01] [ 6.27813323e-03 -7.27284880e-05 9.99980290e-01 6.46282497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:44.77, Z:0.65 [[ 6.80889526e-01 -7.32373702e-01 -4.26779313e-03 1.01470379e+02] [ 7.32359221e-01 6.80902901e-01 -4.60554963e-03 4.47688565e+01] [ 6.27893616e-03 1.03128557e-05 9.99980287e-01 6.47507730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.401858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.49, Y:44.79, Z:0.65 [[ 6.82445568e-01 -7.30923890e-01 -4.27954887e-03 1.01494407e+02] [ 7.30909450e-01 6.82458986e-01 -4.59442436e-03 4.47903759e+01] [ 6.27879111e-03 7.48183474e-06 9.99980288e-01 6.48430726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.431858064 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:101.51, Y:44.81, Z:0.65 [[ 6.83353194e-01 -7.30075015e-01 -4.34564090e-03 1.01514192e+02] [ 7.30060955e-01 6.83367007e-01 -4.53165741e-03 4.48111638e+01] [ 6.27811746e-03 -7.58601794e-05 9.99980290e-01 6.48268837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.461858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.53, Y:44.83, Z:0.65 [[ 6.87047937e-01 -7.26598999e-01 -4.36210576e-03 1.01532983e+02] [ 7.26584967e-01 6.87061781e-01 -4.51602907e-03 4.48290645e+01] [ 6.27837835e-03 -6.67120159e-05 9.99980289e-01 6.48240678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.491858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.55, Y:44.85, Z:0.65 [[ 6.88194368e-01 -7.25513509e-01 -4.31971487e-03 1.01552557e+02] [ 7.25499202e-01 6.88207925e-01 -4.55621955e-03 4.48490743e+01] [ 6.27846084e-03 1.61494273e-06 9.99980290e-01 6.48586836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.521858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.57, Y:44.87, Z:0.65 [[ 6.89009980e-01 -7.24738986e-01 -4.31842733e-03 1.01573006e+02] [ 7.24724657e-01 6.89023513e-01 -4.55743956e-03 4.48699906e+01] [ 6.27845210e-03 1.04505748e-05 9.99980290e-01 6.49120958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.551858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:101.59, Y:44.89, Z:0.65 [[ 6.90912071e-01 -7.22925868e-01 -4.32439688e-03 1.01591456e+02] [ 7.22911538e-01 6.90925604e-01 -4.55178521e-03 4.48892115e+01] [ 6.27843980e-03 1.87269531e-05 9.99980290e-01 6.48531622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.581858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.61, Y:44.91, Z:0.65 [[ 6.90807212e-01 -7.23026114e-01 -4.31670300e-03 1.01610036e+02] [ 7.23011741e-01 6.90820699e-01 -4.55907007e-03 4.49103131e+01] [ 6.27839450e-03 2.84115378e-05 9.99980290e-01 6.46467493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:44.93, Z:0.65 [[ 6.92358172e-01 -7.21541118e-01 -4.31001625e-03 1.01630420e+02] [ 7.21526677e-01 6.92371585e-01 -4.56539877e-03 4.49293580e+01] [ 6.27825572e-03 5.10994437e-05 9.99980290e-01 6.46632411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.65, Y:44.95, Z:0.65 [[ 6.93573798e-01 -7.20372700e-01 -4.30807822e-03 1.01652561e+02] [ 7.20358224e-01 6.93587175e-01 -4.56723214e-03 4.49491080e+01] [ 6.27813715e-03 6.43529697e-05 9.99980290e-01 6.46507442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.67, Y:44.97, Z:0.65 [[ 6.93378050e-01 -7.20561013e-01 -4.32500537e-03 1.01671680e+02] [ 7.20546641e-01 6.93391538e-01 -4.55121916e-03 4.49677255e+01] [ 6.27835322e-03 3.93473752e-05 9.99980290e-01 6.47077348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:44.99, Z:0.65 [[ 6.93183434e-01 -7.20748307e-01 -4.31329355e-03 1.01691245e+02] [ 7.20733869e-01 6.93196852e-01 -4.56229178e-03 4.49885576e+01] [ 6.27822559e-03 5.37683309e-05 9.99980290e-01 6.47251019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.731858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:101.71, Y:45.01, Z:0.65 [[ 6.91361140e-01 -7.22496492e-01 -4.31206115e-03 1.01709352e+02] [ 7.22482081e-01 6.91374586e-01 -4.56345629e-03 4.50075542e+01] [ 6.27833065e-03 3.96094354e-05 9.99980290e-01 6.46015632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.761858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.73, Y:45.03, Z:0.65 [[ 6.91735254e-01 -7.22138480e-01 -4.28430185e-03 1.01732102e+02] [ 7.22123899e-01 6.91748516e-01 -4.58966812e-03 4.50275379e+01] [ 6.27803540e-03 8.10384898e-05 9.99980290e-01 6.46418972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.75, Y:45.05, Z:0.65 [[ 6.91087984e-01 -7.22757784e-01 -4.31095966e-03 1.01752793e+02] [ 7.22743372e-01 6.91101428e-01 -4.56449100e-03 4.50468241e+01] [ 6.27833178e-03 3.87473609e-05 9.99980290e-01 6.45877792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:45.06, Z:0.65 [[ 6.88668368e-01 -7.25063666e-01 -4.30807026e-03 1.01774700e+02] [ 7.25049282e-01 6.88681842e-01 -4.56721853e-03 4.50647387e+01] [ 6.27841398e-03 2.17356829e-05 9.99980290e-01 6.47824337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:45.08, Z:0.65 [[ 6.87296877e-01 -7.26363844e-01 -4.30922109e-03 1.01794793e+02] [ 7.26349492e-01 6.87310385e-01 -4.56613246e-03 4.50838530e+01] [ 6.27844593e-03 8.28802351e-06 9.99980290e-01 6.48451507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.881858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.82, Y:45.10, Z:0.65 [[ 6.86023810e-01 -7.27566335e-01 -4.30803720e-03 1.01815500e+02] [ 7.27552000e-01 6.86037337e-01 -4.56724916e-03 4.51034316e+01] [ 6.27845110e-03 -1.07941021e-06 9.99980290e-01 6.48499806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:45.12, Z:0.65 [[ 6.85272444e-01 -7.28274075e-01 -4.30686437e-03 1.01838456e+02] [ 7.28259747e-01 6.85285978e-01 -4.56835486e-03 4.51236712e+01] [ 6.27844817e-03 -5.94825690e-06 9.99980290e-01 6.48688521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:45.14, Z:0.65 [[ 6.82920832e-01 -7.30479570e-01 -4.32841179e-03 1.01857192e+02] [ 7.30465414e-01 6.82934546e-01 -4.54803720e-03 4.51414556e+01] [ 6.27827020e-03 -5.58057605e-05 9.99980290e-01 6.46438669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.971858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:101.88, Y:45.16, Z:0.65 [[ 6.82293416e-01 -7.31065748e-01 -4.30883326e-03 1.01877822e+02] [ 7.31051487e-01 6.82307021e-01 -4.56648740e-03 4.51612112e+01] [ 6.27834971e-03 -3.42946755e-05 9.99980290e-01 6.46600306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:45.18, Z:0.65 [[ 6.82391301e-01 -7.30974397e-01 -4.30624566e-03 1.01897116e+02] [ 7.30960118e-01 6.82404887e-01 -4.56892454e-03 4.51792878e+01] [ 6.27836994e-03 -2.98994789e-05 9.99980290e-01 6.46889327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.031858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:101.92, Y:45.20, Z:0.65 [[ 6.80636015e-01 -7.32609160e-01 -4.29343517e-03 1.01917620e+02] [ 7.32594838e-01 6.80649556e-01 -4.58098876e-03 4.51995045e+01] [ 6.27839907e-03 -2.73625132e-05 9.99980290e-01 6.48323944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:45.22, Z:0.65 [[ 6.79121003e-01 -7.34013719e-01 -4.30394355e-03 1.01938221e+02] [ 7.33999487e-01 6.79134639e-01 -4.57109453e-03 4.52187274e+01] [ 6.27820324e-03 -5.47660501e-05 9.99980290e-01 6.48157533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.091858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.96, Y:45.24, Z:0.65 [[ 6.78052690e-01 -7.35000705e-01 -4.30272935e-03 1.01958889e+02] [ 7.34986486e-01 6.78066338e-01 -4.57223716e-03 4.52392855e+01] [ 6.27813347e-03 -6.22302258e-05 9.99980290e-01 6.48487218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.98, Y:45.26, Z:0.65 [[ 6.77219219e-01 -7.35768656e-01 -4.31449518e-03 1.01978340e+02] [ 7.35754523e-01 6.77232957e-01 -4.56116724e-03 4.52589833e+01] [ 6.27788222e-03 -8.54992261e-05 9.99980290e-01 6.47259095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.151858064 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:102.00, Y:45.28, Z:0.65 [[ 6.76402357e-01 -7.36519756e-01 -4.30110394e-03 1.01998211e+02] [ 7.36505558e-01 6.76416028e-01 -4.57376020e-03 4.52774374e+01] [ 6.27800039e-03 -7.40847765e-05 9.99980290e-01 6.45988219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.02, Y:45.30, Z:0.65 [[ 6.75286195e-01 -7.37543292e-01 -4.29503259e-03 1.02018668e+02] [ 7.37529078e-01 6.75299850e-01 -4.57946673e-03 4.52985661e+01] [ 6.27798983e-03 -7.52607624e-05 9.99980290e-01 6.46586220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.211858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:102.04, Y:45.32, Z:0.65 [[ 6.74677717e-01 -7.38099923e-01 -4.29911915e-03 1.02042933e+02] [ 7.38085745e-01 6.74691408e-01 -4.57562712e-03 4.53189750e+01] [ 6.27784878e-03 -8.60449030e-05 9.99980290e-01 6.45576092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.241858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:102.06, Y:45.34, Z:0.65 [[ 6.74139980e-01 -7.38590943e-01 -4.32517706e-03 1.02064493e+02] [ 7.38576931e-01 6.74153843e-01 -4.55116393e-03 4.53391321e+01] [ 6.27728319e-03 -1.26354440e-04 9.99980290e-01 6.46303100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.271858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.08, Y:45.36, Z:0.65 [[ 6.72377732e-01 -7.40195521e-01 -4.33308448e-03 1.02082664e+02] [ 7.40181591e-01 6.72391677e-01 -4.54374605e-03 4.53587095e+01] [ 6.27679041e-03 -1.52155698e-04 9.99980289e-01 6.47407242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.301858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.10, Y:45.38, Z:0.65 [[ 6.73084757e-01 -7.39552787e-01 -4.31100910e-03 1.02104050e+02] [ 7.39538711e-01 6.73098553e-01 -4.56443162e-03 4.53785906e+01] [ 6.27737211e-03 -1.15908760e-04 9.99980290e-01 6.48767381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.331858064 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:102.12, Y:45.40, Z:0.65 [[ 6.74213943e-01 -7.38523496e-01 -4.31336434e-03 1.02121200e+02] [ 7.38509412e-01 6.74227732e-01 -4.56222241e-03 4.53967557e+01] [ 6.27749830e-03 -1.09546202e-04 9.99980290e-01 6.48717226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.361858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:102.14, Y:45.42, Z:0.65 [[ 6.74072621e-01 -7.38652705e-01 -4.27581700e-03 1.02140522e+02] [ 7.38638400e-01 6.74086179e-01 -4.59740203e-03 4.54183630e+01] [ 6.27815259e-03 -5.92997938e-05 9.99980290e-01 6.47736988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:45.44, Z:0.65 [[ 6.79000058e-01 -7.34125722e-01 -4.28315830e-03 1.02162581e+02] [ 7.34111370e-01 6.79013567e-01 -4.59052237e-03 4.54364812e+01] [ 6.27834314e-03 -2.73502556e-05 9.99980291e-01 6.50060580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.18, Y:45.46, Z:0.65 [[ 6.78714902e-01 -7.34389359e-01 -4.28371761e-03 1.02182306e+02] [ 7.34375016e-01 6.78728420e-01 -4.58999844e-03 4.54576200e+01] [ 6.27832690e-03 -3.05548521e-05 9.99980291e-01 6.50472037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.20, Y:45.48, Z:0.65 [[ 6.79654117e-01 -7.33520184e-01 -4.29191961e-03 1.02201059e+02] [ 7.33505872e-01 6.79667668e-01 -4.58231623e-03 4.54769477e+01] [ 6.27830043e-03 -3.37581376e-05 9.99980291e-01 6.50083257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.481858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.22, Y:45.50, Z:0.65 [[ 6.80681527e-01 -7.32566887e-01 -4.29119887e-03 1.02220662e+02] [ 7.32552552e-01 6.80695053e-01 -4.58299108e-03 4.54969123e+01] [ 6.27834535e-03 -2.39713202e-05 9.99980291e-01 6.49933808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:45.52, Z:0.65 [[ 6.79884097e-01 -7.33307088e-01 -4.28129572e-03 1.02239237e+02] [ 7.33292709e-01 6.79897576e-01 -4.59226078e-03 4.55174887e+01] [ 6.27837996e-03 -1.72378680e-05 9.99980291e-01 6.47518703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.541858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:102.26, Y:45.54, Z:0.65 [[ 6.82576914e-01 -7.30801245e-01 -4.27745593e-03 1.02260854e+02] [ 7.30786794e-01 6.82590316e-01 -4.59585161e-03 4.55356063e+01] [ 6.27840408e-03 1.11139004e-05 9.99980291e-01 6.49349242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:45.56, Z:0.65 [[ 6.82436291e-01 -7.30932580e-01 -4.27448890e-03 1.02280877e+02] [ 7.30918114e-01 6.82449678e-01 -4.59862381e-03 4.55559109e+01] [ 6.27840754e-03 1.39664063e-05 9.99980291e-01 6.49617471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:45.58, Z:0.65 [[ 6.83005330e-01 -7.30400816e-01 -4.28570368e-03 1.02301872e+02] [ 7.30386405e-01 6.83018776e-01 -4.58814829e-03 4.55751943e+01] [ 6.27840334e-03 3.51003690e-06 9.99980291e-01 6.49350046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:45.59, Z:0.65 [[ 6.82753873e-01 -7.30635897e-01 -4.28197166e-03 1.02321647e+02] [ 7.30621469e-01 6.82767300e-01 -4.59163267e-03 4.55948428e+01] [ 6.27840188e-03 6.45455725e-06 9.99980291e-01 6.49235441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.661858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.34, Y:45.61, Z:0.65 [[ 6.83130264e-01 -7.30283979e-01 -4.28395619e-03 1.02341909e+02] [ 7.30269555e-01 6.83143697e-01 -4.58978037e-03 4.56139467e+01] [ 6.27840074e-03 6.97509486e-06 9.99980291e-01 6.49352318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.691858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.36, Y:45.63, Z:0.65 [[ 6.82368590e-01 -7.30995760e-01 -4.27856961e-03 1.02362731e+02] [ 7.30981319e-01 6.82382004e-01 -4.59480620e-03 4.56341793e+01] [ 6.27840276e-03 7.79696850e-06 9.99980291e-01 6.49420302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:45.65, Z:0.65 [[ 6.81917051e-01 -7.31416979e-01 -4.28235776e-03 1.02384444e+02] [ 7.31402569e-01 6.81930497e-01 -4.59127293e-03 4.56525977e+01] [ 6.27840533e-03 -1.26016921e-06 9.99980291e-01 6.49658160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.40, Y:45.67, Z:0.65 [[ 6.80785166e-01 -7.32470634e-01 -4.28105760e-03 1.02404220e+02] [ 7.32456237e-01 6.80798627e-01 -4.59248492e-03 4.56719952e+01] [ 6.27839848e-03 -9.19173277e-06 9.99980291e-01 6.49889656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:45.69, Z:0.65 [[ 6.79736870e-01 -7.33443571e-01 -4.27966318e-03 1.02424064e+02] [ 7.33429185e-01 6.79750342e-01 -4.59378400e-03 4.56915235e+01] [ 6.27838385e-03 -1.62655215e-05 9.99980291e-01 6.50288496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:45.71, Z:0.65 [[ 6.78409241e-01 -7.34671761e-01 -4.27838138e-03 1.02444017e+02] [ 7.34657392e-01 6.78422731e-01 -4.59497748e-03 4.57109877e+01] [ 6.27835138e-03 -2.58693173e-05 9.99980291e-01 6.50195822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:45.73, Z:0.65 [[ 6.75002008e-01 -7.37803494e-01 -4.27710466e-03 1.02464464e+02] [ 7.37789180e-01 6.75015557e-01 -4.59616557e-03 4.57296641e+01] [ 6.27817920e-03 -5.31805460e-05 9.99980291e-01 6.50057879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.871858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:102.48, Y:45.75, Z:0.65 [[ 6.74328875e-01 -7.38418773e-01 -4.27583329e-03 1.02483529e+02] [ 7.38404464e-01 6.74342429e-01 -4.59734803e-03 4.57488097e+01] [ 6.27814390e-03 -5.71698587e-05 9.99980291e-01 6.50680794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:45.77, Z:0.65 [[ 6.69220843e-01 -7.43051361e-01 -4.25892097e-03 1.02497869e+02] [ 7.43037045e-01 6.69234390e-01 -4.61308084e-03 4.57687594e+01] [ 6.27797237e-03 -7.73662098e-05 9.99980290e-01 6.47428426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:45.79, Z:0.65 [[ 6.66106333e-01 -7.45844916e-01 -4.20881282e-03 1.02516802e+02] [ 7.45830361e-01 6.66119629e-01 -4.65971064e-03 4.57893792e+01] [ 6.27899432e-03 -3.51976189e-05 9.99980286e-01 6.47245076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.54, Y:45.81, Z:0.65 [[ 6.68724243e-01 -7.43498654e-01 -4.19972427e-03 1.02543084e+02] [ 7.43483999e-01 6.68737430e-01 -4.66816256e-03 4.58105308e+01] [ 6.27928540e-03 -7.14320290e-07 9.99980285e-01 6.50391519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:45.83, Z:0.65 [[ 6.68111898e-01 -7.44048517e-01 -4.27745210e-03 1.02561139e+02] [ 7.44034331e-01 6.68125581e-01 -4.59581924e-03 4.58303055e+01] [ 6.27738766e-03 -1.12049693e-04 9.99980291e-01 6.50548378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:45.85, Z:0.65 [[ 6.66885943e-01 -7.45147536e-01 -4.27657829e-03 1.02579696e+02] [ 7.45133368e-01 6.66899644e-01 -4.59663220e-03 4.58502596e+01] [ 6.27721770e-03 -1.21191786e-04 9.99980291e-01 6.50946476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.60, Y:45.87, Z:0.65 [[ 6.66263700e-01 -7.45703963e-01 -4.27571470e-03 1.02598812e+02] [ 7.45689802e-01 6.66277407e-01 -4.59743536e-03 4.58713751e+01] [ 6.27713787e-03 -1.25252557e-04 9.99980291e-01 6.51102445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:45.89, Z:0.65 [[ 6.65714124e-01 -7.46194636e-01 -4.27444633e-03 1.02617721e+02] [ 7.46180477e-01 6.65727834e-01 -4.59861432e-03 4.58927487e+01] [ 6.27707924e-03 -1.28145898e-04 9.99980291e-01 6.51182278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.111858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.63, Y:45.91, Z:0.65 [[ 6.65551358e-01 -7.46339822e-01 -4.27314650e-03 1.02634791e+02] [ 7.46325658e-01 6.65565063e-01 -4.59982184e-03 4.59133469e+01] [ 6.27708723e-03 -1.27741202e-04 9.99980291e-01 6.51499484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:45.94, Z:0.65 [[ 6.64842151e-01 -7.46971660e-01 -4.27242455e-03 1.02654470e+02] [ 7.46957505e-01 6.64855865e-01 -4.60049230e-03 4.59357983e+01] [ 6.27698389e-03 -1.32718382e-04 9.99980291e-01 6.52289969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:45.96, Z:0.65 [[ 6.65404200e-01 -7.46470950e-01 -4.28617931e-03 1.02671837e+02] [ 7.46456866e-01 6.65417989e-01 -4.58772201e-03 4.59564688e+01] [ 6.27670203e-03 -1.46758484e-04 9.99980291e-01 6.52183130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:45.98, Z:0.65 [[ 6.65785279e-01 -7.46131175e-01 -4.27001512e-03 1.02687904e+02] [ 7.46116988e-01 6.65798960e-01 -4.60271779e-03 4.59793452e+01] [ 6.27720286e-03 -1.21509074e-04 9.99980291e-01 6.52684417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.71, Y:46.00, Z:0.65 [[ 6.66779476e-01 -7.45242852e-01 -4.26874863e-03 1.02705115e+02] [ 7.45228639e-01 6.66793131e-01 -4.60389209e-03 4.59999188e+01] [ 6.27738994e-03 -1.11412981e-04 9.99980291e-01 6.53080502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:46.02, Z:0.65 [[ 6.66709134e-01 -7.45305867e-01 -4.25388864e-03 1.02724467e+02] [ 7.45291568e-01 6.66722698e-01 -4.61766372e-03 4.60225455e+01] [ 6.27773598e-03 -9.17487536e-05 9.99980291e-01 6.53519554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:46.04, Z:0.66 [[ 6.67456407e-01 -7.44636648e-01 -4.26707357e-03 1.02741504e+02] [ 7.44622413e-01 6.67470039e-01 -4.60544753e-03 4.60442644e+01] [ 6.27752877e-03 -1.03423154e-04 9.99980291e-01 6.55232945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:46.07, Z:0.66 [[ 6.68020848e-01 -7.44130328e-01 -4.26636103e-03 1.02759074e+02] [ 7.44116078e-01 6.68034465e-01 -4.60610751e-03 4.60655266e+01] [ 6.27762050e-03 -9.76919910e-05 9.99980291e-01 6.55631903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.351858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:102.78, Y:46.09, Z:0.66 [[ 6.67826211e-01 -7.44305052e-01 -4.25930162e-03 1.02777000e+02] [ 7.44290764e-01 6.67839787e-01 -4.61264313e-03 4.60876030e+01] [ 6.27774467e-03 -8.97148743e-05 9.99980291e-01 6.56714857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.79, Y:46.11, Z:0.66 [[ 6.67910135e-01 -7.44229714e-01 -4.26432780e-03 1.02794975e+02] [ 7.44215455e-01 6.67923741e-01 -4.60799180e-03 4.61096300e+01] [ 6.27765020e-03 -9.58542245e-05 9.99980291e-01 6.57251505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.81, Y:46.13, Z:0.66 [[ 6.68344179e-01 -7.43839960e-01 -4.26302147e-03 1.02811374e+02] [ 7.43825685e-01 6.68357768e-01 -4.60920002e-03 4.61328014e+01] [ 6.27773067e-03 -9.04128622e-05 9.99980291e-01 6.57480821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.83, Y:46.15, Z:0.66 [[ 6.68421325e-01 -7.43770643e-01 -4.26171270e-03 1.02828970e+02] [ 7.43756359e-01 6.68434905e-01 -4.61040980e-03 4.61540571e+01] [ 6.27776499e-03 -8.79796908e-05 9.99980291e-01 6.57823445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:46.18, Z:0.66 [[ 6.68036456e-01 -7.44116318e-01 -4.26598710e-03 1.02846488e+02] [ 7.44102066e-01 6.68050070e-01 -4.60646010e-03 4.61758586e+01] [ 6.27763511e-03 -9.70465403e-05 9.99980291e-01 6.57293138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.86, Y:46.20, Z:0.66 [[ 6.67190836e-01 -7.44874649e-01 -4.25992804e-03 1.02863456e+02] [ 7.44860376e-01 6.67204428e-01 -4.61205655e-03 4.61988082e+01] [ 6.27764685e-03 -9.59297427e-05 9.99980291e-01 6.56374678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.88, Y:46.22, Z:0.66 [[ 6.66458122e-01 -7.45530306e-01 -4.25860986e-03 1.02881946e+02] [ 7.45516039e-01 6.66471720e-01 -4.61327340e-03 4.62208197e+01] [ 6.27757816e-03 -1.00308429e-04 9.99980291e-01 6.57176165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:46.24, Z:0.66 [[ 6.65058840e-01 -7.46778801e-01 -4.26158910e-03 1.02899442e+02] [ 7.46764578e-01 6.65072483e-01 -4.61052408e-03 4.62424846e+01] [ 6.27730729e-03 -1.16133993e-04 9.99980291e-01 6.55759762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:46.26, Z:0.66 [[ 6.64838772e-01 -7.46974756e-01 -4.25684300e-03 1.02918795e+02] [ 7.46960509e-01 6.64852390e-01 -4.61490194e-03 4.62635389e+01] [ 6.27738749e-03 -1.11527880e-04 9.99980291e-01 6.55936806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:46.29, Z:0.65 [[ 6.62660439e-01 -7.48907894e-01 -4.25548282e-03 1.02935805e+02] [ 7.48893678e-01 6.62674091e-01 -4.61615584e-03 4.62855875e+01] [ 6.27707376e-03 -1.27960327e-04 9.99980291e-01 6.54393051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.95, Y:46.31, Z:0.65 [[ 6.62638581e-01 -7.48927242e-01 -4.25412524e-03 1.02953404e+02] [ 7.48913018e-01 6.62652225e-01 -4.61740662e-03 4.63063015e+01] [ 6.27710715e-03 -1.26298004e-04 9.99980291e-01 6.53127214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.681858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:102.97, Y:46.33, Z:0.65 [[ 6.61882148e-01 -7.49595845e-01 -4.25353729e-03 1.02970138e+02] [ 7.49581631e-01 6.61895802e-01 -4.61794816e-03 4.63274291e+01] [ 6.27699323e-03 -1.31835977e-04 9.99980291e-01 6.52012323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:46.35, Z:0.65 [[ 6.60079931e-01 -7.51183332e-01 -4.25282202e-03 1.02987768e+02] [ 7.51169147e-01 6.60093615e-01 -4.61860679e-03 4.63494630e+01] [ 6.27668110e-03 -1.45939042e-04 9.99980291e-01 6.52226843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.741858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:103.01, Y:46.37, Z:0.65 [[ 6.59314670e-01 -7.51855099e-01 -4.25151719e-03 1.03005731e+02] [ 7.51840921e-01 6.59328361e-01 -4.61980760e-03 4.63697383e+01] [ 6.27657176e-03 -1.50557675e-04 9.99980291e-01 6.52826315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.771858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:103.02, Y:46.39, Z:0.65 [[ 6.58328919e-01 -7.52718384e-01 -4.25078795e-03 1.03022741e+02] [ 7.52704219e-01 6.58342624e-01 -4.62047849e-03 4.63917637e+01] [ 6.27639399e-03 -1.57791410e-04 9.99980291e-01 6.53111591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.801858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.04, Y:46.41, Z:0.65 [[ 6.58413612e-01 -7.52644310e-01 -4.24949101e-03 1.03040260e+02] [ 7.52630136e-01 6.58427307e-01 -4.62167099e-03 4.64125948e+01] [ 6.27645529e-03 -1.55323909e-04 9.99980291e-01 6.53125168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.831858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.06, Y:46.43, Z:0.65 [[ 6.58943388e-01 -7.52180536e-01 -4.24877235e-03 1.03058369e+02] [ 7.52166349e-01 6.58957069e-01 -4.62233157e-03 4.64340928e+01] [ 6.27658641e-03 -1.49928764e-04 9.99980291e-01 6.53277313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.861858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:103.07, Y:46.46, Z:0.65 [[ 6.59364592e-01 -7.51811341e-01 -4.24747568e-03 1.03074441e+02] [ 7.51797138e-01 6.59378257e-01 -4.62352278e-03 4.64552796e+01] [ 6.27670997e-03 -1.44652851e-04 9.99980291e-01 6.53249789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:46.48, Z:0.65 [[ 6.62180054e-01 -7.49332845e-01 -4.22644875e-03 1.03094258e+02] [ 7.49318467e-01 6.62193536e-01 -4.64282782e-03 4.64771403e+01] [ 6.27775042e-03 -9.25681207e-05 9.99980290e-01 6.53863902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.11, Y:46.50, Z:0.65 [[ 6.66023614e-01 -7.45918574e-01 -4.24575276e-03 1.03110921e+02] [ 7.45904240e-01 6.66037141e-01 -4.62510714e-03 4.65004089e+01] [ 6.27778235e-03 -8.64944201e-05 9.99980291e-01 6.53895270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95185806399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:103.13, Y:46.52, Z:0.65 [[ 6.67845431e-01 -7.44287891e-01 -4.24448042e-03 1.03128866e+02] [ 7.44273516e-01 6.67858915e-01 -4.62627448e-03 4.65219248e+01] [ 6.27799416e-03 -6.94180966e-05 9.99980291e-01 6.54488492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.981858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.15, Y:46.54, Z:0.65 [[ 6.69445973e-01 -7.42848628e-01 -4.24320348e-03 1.03146751e+02] [ 7.42834217e-01 6.69459419e-01 -4.62744539e-03 4.65438637e+01] [ 6.27814399e-03 -5.41720551e-05 9.99980291e-01 6.54863170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:46.57, Z:0.66 [[ 6.71290126e-01 -7.41182551e-01 -4.24192284e-03 1.03163579e+02] [ 7.41168099e-01 6.71303527e-01 -4.62861903e-03 4.65666761e+01] [ 6.27826943e-03 -3.68316371e-05 9.99980291e-01 6.55919417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.041858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:103.18, Y:46.59, Z:0.66 [[ 6.71496377e-01 -7.40995704e-01 -4.24065060e-03 1.03181191e+02] [ 7.40981241e-01 6.71509766e-01 -4.62978435e-03 4.65879521e+01] [ 6.27828860e-03 -3.33591248e-05 9.99980291e-01 6.56716170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.071858064 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:103.18, Y:46.61, Z:0.65 [[ 6.64578409e-01 -7.47206509e-01 -4.23937069e-03 1.03183470e+02] [ 7.47192163e-01 6.64591924e-01 -4.63095603e-03 4.66084934e+01] [ 6.27773201e-03 -8.99911695e-05 9.99980291e-01 6.54168091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.101858064 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:103.22, Y:46.63, Z:0.66 [[ 6.70999580e-01 -7.41446468e-01 -4.08642079e-03 1.03216849e+02] [ 7.41431140e-01 6.71012001e-01 -4.77067421e-03 4.66312600e+01] [ 6.27923694e-03 1.71320761e-04 9.99980271e-01 6.57214259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.131858064 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:103.23, Y:46.65, Z:0.66 [[ 6.70972277e-01 -7.41470318e-01 -4.23915020e-03 1.03233656e+02] [ 7.41455858e-01 6.70985668e-01 -4.63086400e-03 4.66509268e+01] [ 6.27805723e-03 -3.59613860e-05 9.99980292e-01 6.56992788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.161858064 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:103.25, Y:46.67, Z:0.66 [[ 6.68285162e-01 -7.43893221e-01 -4.22120359e-03 1.03252711e+02] [ 7.43878705e-01 6.68298492e-01 -4.64728094e-03 4.66742144e+01] [ 6.27810478e-03 -3.43545672e-05 9.99980292e-01 6.57498191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.191858064 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:103.27, Y:46.70, Z:0.66 [[ 6.66948928e-01 -7.45091385e-01 -4.23749884e-03 1.03270792e+02] [ 7.45076987e-01 6.66962386e-01 -4.63237474e-03 4.66955347e+01] [ 6.27779484e-03 -6.77055092e-05 9.99980292e-01 6.57519193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.221858064 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:103.29, Y:46.72, Z:0.66 [[ 6.65177082e-01 -7.46673627e-01 -4.23620109e-03 1.03288929e+02] [ 7.46659254e-01 6.65190566e-01 -4.63356119e-03 4.67166743e+01] [ 6.27763894e-03 -8.08600326e-05 9.99980292e-01 6.57030292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.251858064 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:103.31, Y:46.74, Z:0.66 [[ 6.61831617e-01 -7.49640565e-01 -4.23488719e-03 1.03307078e+02] [ 7.49626245e-01 6.61845157e-01 -4.63476173e-03 4.67377369e+01] [ 6.27724498e-03 -1.07150733e-04 9.99980292e-01 6.57824474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281858064 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:103.32, Y:46.76, Z:0.66 [[ 6.60426627e-01 -7.50878650e-01 -4.23356825e-03 1.03324965e+02] [ 7.50864348e-01 6.60440186e-01 -4.63596620e-03 4.67573841e+01] [ 6.27706664e-03 -1.17119946e-04 9.99980292e-01 6.58578457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.311858064 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:103.34, Y:46.78, Z:0.66 [[ 6.57609119e-01 -7.53347417e-01 -4.23267284e-03 1.03341156e+02] [ 7.53333160e-01 6.57622726e-01 -4.63678356e-03 4.67787758e+01] [ 6.27661077e-03 -1.39421653e-04 9.99980292e-01 6.60150031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.341858064 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:103.36, Y:46.80, Z:0.66 [[ 6.58359317e-01 -7.52692029e-01 -4.20943255e-03 1.03361635e+02] [ 7.52677623e-01 6.58372766e-01 -4.65798705e-03 4.67990992e+01] [ 6.27740547e-03 -1.01716512e-04 9.99980292e-01 6.59837162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.371858064 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:103.38, Y:46.82, Z:0.66 [[ 6.58079172e-01 -7.52936851e-01 -4.23093140e-03 1.03379506e+02] [ 7.52922576e-01 6.58092760e-01 -4.63837671e-03 4.68208370e+01] [ 6.27675008e-03 -1.33144661e-04 9.99980292e-01 6.60300184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.401858064 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:103.40, Y:46.84, Z:0.66 [[ 6.58573873e-01 -7.52504195e-01 -4.22961969e-03 1.03397033e+02] [ 7.52489903e-01 6.58587443e-01 -4.63957252e-03 4.68417998e+01] [ 6.27687220e-03 -1.27244862e-04 9.99980292e-01 6.60563303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.431858064 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:103.42, Y:46.86, Z:0.66 [[ 6.59587805e-01 -7.51615624e-01 -4.22872793e-03 1.03415094e+02] [ 7.51601308e-01 6.59601350e-01 -4.64038516e-03 4.68635510e+01] [ 6.27706064e-03 -1.17575982e-04 9.99980292e-01 6.61114878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.461858064 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:103.42, Y:46.89, Z:0.66 [[ 6.58116681e-01 -7.52904086e-01 -4.22742015e-03 1.03422454e+02] [ 7.52889790e-01 6.58130246e-01 -4.64157625e-03 4.68854527e+01] [ 6.27685479e-03 -1.28082714e-04 9.99980292e-01 6.57618787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.491858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:103.45, Y:46.91, Z:0.66 [[ 6.64186244e-01 -7.47555727e-01 -4.13140294e-03 1.03450563e+02] [ 7.47540771e-01 6.64199091e-01 -4.72889961e-03 4.69073893e+01] [ 6.27919006e-03 5.24779301e-05 9.99980284e-01 6.62527313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.521858064 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:103.47, Y:46.93, Z:0.66 [[ 6.65564638e-01 -7.46328245e-01 -4.22655613e-03 1.03467452e+02] [ 7.46313810e-01 6.65578055e-01 -4.64226737e-03 4.69279972e+01] [ 6.27775827e-03 -6.46081997e-05 9.99980293e-01 6.62756294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.551858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.49, Y:46.95, Z:0.66 [[ 6.66601788e-01 -7.45402038e-01 -4.22583615e-03 1.03485136e+02] [ 7.45387580e-01 6.66615180e-01 -4.64292267e-03 4.69496101e+01] [ 6.27785055e-03 -5.49052284e-05 9.99980293e-01 6.62559603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.581858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:103.50, Y:46.97, Z:0.66 [[ 6.67943884e-01 -7.44199651e-01 -4.22455092e-03 1.03502041e+02] [ 7.44185162e-01 6.67957242e-01 -4.64409180e-03 4.69728038e+01] [ 6.27795088e-03 -4.18553973e-05 9.99980293e-01 6.62983604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.611858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.52, Y:46.99, Z:0.66 [[ 6.68371078e-01 -7.43816017e-01 -4.22325745e-03 1.03519674e+02] [ 7.43801512e-01 6.68384419e-01 -4.64526777e-03 4.69945116e+01] [ 6.27798404e-03 -3.65026514e-05 9.99980293e-01 6.63219314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.54, Y:47.02, Z:0.66 [[ 6.68685659e-01 -7.43533230e-01 -4.22195181e-03 1.03535960e+02] [ 7.43518712e-01 6.68698987e-01 -4.64645412e-03 4.70168494e+01] [ 6.27800794e-03 -3.20829342e-05 9.99980293e-01 6.63517493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:47.04, Z:0.66 [[ 6.68541384e-01 -7.43662961e-01 -4.22106519e-03 1.03554022e+02] [ 7.43648441e-01 6.68554709e-01 -4.64725943e-03 4.70384163e+01] [ 6.27800772e-03 -3.21032955e-05 9.99980293e-01 6.63582962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70185806399999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:103.57, Y:47.06, Z:0.66 [[ 6.68420686e-01 -7.43771457e-01 -4.21977768e-03 1.03572217e+02] [ 7.43756932e-01 6.68434005e-01 -4.64842821e-03 4.70593234e+01] [ 6.27801112e-03 -3.13833266e-05 9.99980293e-01 6.63783876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.731858064 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:103.58, Y:47.08, Z:0.66 [[ 6.65321976e-01 -7.46544622e-01 -4.21848751e-03 1.03583912e+02] [ 7.46530145e-01 6.65335347e-01 -4.64959875e-03 4.70811607e+01] [ 6.27784180e-03 -5.57478650e-05 9.99980293e-01 6.59337889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.761858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.61, Y:47.10, Z:0.66 [[ 6.68014459e-01 -7.44136708e-01 -4.15242709e-03 1.03609800e+02] [ 7.44121807e-01 6.68027363e-01 -4.70944808e-03 4.71024234e+01] [ 6.27840810e-03 5.60678637e-05 9.99980289e-01 6.63639077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:47.12, Z:0.66 [[ 6.67648525e-01 -7.44464683e-01 -4.21683661e-03 1.03628684e+02] [ 7.44450155e-01 6.67661841e-01 -4.65105176e-03 4.71236489e+01] [ 6.27796467e-03 -3.39568216e-05 9.99980293e-01 6.63083678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:47.14, Z:0.66 [[ 6.66820688e-01 -7.45206279e-01 -4.21556758e-03 1.03648658e+02] [ 7.45191759e-01 6.66834012e-01 -4.65220168e-03 4.71443217e+01] [ 6.27793375e-03 -3.92218929e-05 9.99980293e-01 6.62123238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:47.16, Z:0.66 [[ 6.66898476e-01 -7.45136618e-01 -4.22400761e-03 1.03667810e+02] [ 7.45122145e-01 6.66911851e-01 -4.64455654e-03 4.71645401e+01] [ 6.27786989e-03 -4.99539355e-05 9.99980293e-01 6.60972242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:47.18, Z:0.66 [[ 6.66836271e-01 -7.45192348e-01 -4.21336293e-03 1.03686806e+02] [ 7.45177814e-01 6.66849581e-01 -4.65419299e-03 4.71842852e+01] [ 6.27794831e-03 -3.61198875e-05 9.99980293e-01 6.59442970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:47.20, Z:0.66 [[ 6.66847692e-01 -7.45182132e-01 -4.21265236e-03 1.03706709e+02] [ 7.45167594e-01 6.66860997e-01 -4.65483606e-03 4.72046892e+01] [ 6.27795421e-03 -3.50653393e-05 9.99980293e-01 6.59271825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:47.22, Z:0.66 [[ 6.66599386e-01 -7.45404268e-01 -4.21134689e-03 1.03726337e+02] [ 7.45389727e-01 6.66612688e-01 -4.65601685e-03 4.72228133e+01] [ 6.27795211e-03 -3.53967398e-05 9.99980293e-01 6.57383931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:47.24, Z:0.66 [[ 6.66147417e-01 -7.45808213e-01 -4.21061004e-03 1.03745969e+02] [ 7.45793676e-01 6.66160723e-01 -4.65668312e-03 4.72423109e+01] [ 6.27793554e-03 -3.82089033e-05 9.99980293e-01 6.58154776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.77, Y:47.26, Z:0.66 [[ 6.65862689e-01 -7.46062438e-01 -4.20931712e-03 1.03765240e+02] [ 7.46047899e-01 6.65875992e-01 -4.65785153e-03 4.72610350e+01] [ 6.27793129e-03 -3.88626536e-05 9.99980293e-01 6.57894975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:47.28, Z:0.66 [[ 6.66256174e-01 -7.45711069e-01 -4.20858684e-03 1.03789090e+02] [ 7.45696518e-01 6.66269466e-01 -4.65851129e-03 4.72801964e+01] [ 6.27795633e-03 -3.45666406e-05 9.99980293e-01 6.58890616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:47.30, Z:0.66 [[ 6.65817770e-01 -7.46102425e-01 -4.22704545e-03 1.03807717e+02] [ 7.46087988e-01 6.65831185e-01 -4.64183637e-03 4.72989915e+01] [ 6.27778406e-03 -6.31306934e-05 9.99980293e-01 6.57928985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.091858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:103.83, Y:47.32, Z:0.66 [[ 6.66786276e-01 -7.45237119e-01 -4.20711476e-03 1.03826844e+02] [ 7.45222550e-01 6.66799547e-01 -4.65983074e-03 4.73171998e+01] [ 6.27798105e-03 -2.81256062e-05 9.99980293e-01 6.58445012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.121858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:103.85, Y:47.34, Z:0.66 [[ 6.66970436e-01 -7.45072367e-01 -4.19599862e-03 1.03848095e+02] [ 7.45057732e-01 6.66983634e-01 -4.66986775e-03 4.73370669e+01] [ 6.27805183e-03 -1.15974868e-05 9.99980293e-01 6.56034851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:47.36, Z:0.66 [[ 6.68616958e-01 -7.43595139e-01 -4.19906728e-03 1.03868565e+02] [ 7.43580493e-01 6.68630143e-01 -4.66709777e-03 4.73564774e+01] [ 6.27805417e-03 -1.84380213e-06 9.99980293e-01 6.58169083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.89, Y:47.37, Z:0.66 [[ 6.70635044e-01 -7.41775535e-01 -4.20642196e-03 1.03889184e+02] [ 7.41760894e-01 6.70648236e-01 -4.66045961e-03 4.73738426e+01] [ 6.27804438e-03 5.30821540e-06 9.99980293e-01 6.58362148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:47.39, Z:0.66 [[ 6.71394131e-01 -7.41088546e-01 -4.20568775e-03 1.03909278e+02] [ 7.41073887e-01 6.71407304e-01 -4.66112208e-03 4.73932049e+01] [ 6.27803365e-03 1.27246453e-05 9.99980293e-01 6.58850530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.241858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.93, Y:47.41, Z:0.66 [[ 6.72753773e-01 -7.39854502e-01 -4.20435917e-03 1.03928477e+02] [ 7.39839812e-01 6.72766910e-01 -4.66232016e-03 4.74109172e+01] [ 6.27799229e-03 2.60411798e-05 9.99980293e-01 6.59015835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:47.43, Z:0.66 [[ 6.73939074e-01 -7.38775080e-01 -4.18403979e-03 1.03949701e+02] [ 7.38760255e-01 6.73952058e-01 -4.68062978e-03 4.74297178e+01] [ 6.27777487e-03 6.34569996e-05 9.99980293e-01 6.59701176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:47.45, Z:0.66 [[ 6.73462822e-01 -7.39209259e-01 -4.18311708e-03 1.03969669e+02] [ 7.39194438e-01 6.73475810e-01 -4.68146092e-03 4.74504609e+01] [ 6.27780743e-03 6.06530045e-05 9.99980293e-01 6.58011446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.331858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.99, Y:47.47, Z:0.66 [[ 6.73913646e-01 -7.38798176e-01 -4.20160465e-03 1.03988768e+02] [ 7.38783450e-01 6.73926742e-01 -4.66480913e-03 4.74697272e+01] [ 6.27792621e-03 3.96025426e-05 9.99980293e-01 6.57903814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.361858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:104.02, Y:47.49, Z:0.66 [[ 6.75214244e-01 -7.37609771e-01 -4.18925723e-03 1.04015371e+02] [ 7.37594953e-01 6.75227237e-01 -4.67593020e-03 4.74907156e+01] [ 6.27771239e-03 6.72796916e-05 9.99980293e-01 6.56038856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:47.51, Z:0.66 [[ 6.72587574e-01 -7.40005241e-01 -4.26609263e-03 1.04029625e+02] [ 7.39990904e-01 6.72601101e-01 -4.60666124e-03 4.75085766e+01] [ 6.27833206e-03 -5.84866322e-05 9.99980289e-01 6.56309005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:47.53, Z:0.65 [[ 6.69721306e-01 -7.42600651e-01 -4.20074472e-03 1.04050612e+02] [ 7.42585995e-01 6.69734480e-01 -4.66549954e-03 4.75266045e+01] [ 6.27798657e-03 5.17024815e-06 9.99980293e-01 6.54893481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45185806399999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:104.07, Y:47.55, Z:0.66 [[ 6.67713324e-01 -7.44406661e-01 -4.20004882e-03 1.04070864e+02] [ 7.44392037e-01 6.67726533e-01 -4.66612593e-03 4.75466022e+01] [ 6.27797926e-03 -1.08484430e-05 9.99980293e-01 6.55588327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.481858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:104.09, Y:47.57, Z:0.66 [[ 6.65924242e-01 -7.46007557e-01 -4.19874432e-03 1.04090622e+02] [ 7.45992957e-01 6.65937478e-01 -4.66729946e-03 4.75655373e+01] [ 6.27794188e-03 -2.41658355e-05 9.99980293e-01 6.55617641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.511858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:104.11, Y:47.59, Z:0.66 [[ 6.65724370e-01 -7.46185929e-01 -4.19801435e-03 1.04109673e+02] [ 7.46171328e-01 6.65737606e-01 -4.66795595e-03 4.75868491e+01] [ 6.27793907e-03 -2.48659134e-05 9.99980293e-01 6.55796728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.541858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:104.13, Y:47.61, Z:0.66 [[ 6.62566983e-01 -7.48990908e-01 -4.19676353e-03 1.04130964e+02] [ 7.48976356e-01 6.62580272e-01 -4.66908024e-03 4.76059258e+01] [ 6.27779137e-03 -4.96982486e-05 9.99980293e-01 6.55991501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.571858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.15, Y:47.63, Z:0.66 [[ 6.61352312e-01 -7.50063675e-01 -4.19545963e-03 1.04149579e+02] [ 7.50049138e-01 6.61365617e-01 -4.67025158e-03 4.76253049e+01] [ 6.27771881e-03 -5.81191951e-05 9.99980293e-01 6.55709366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.601858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:104.17, Y:47.64, Z:0.66 [[ 6.59304549e-01 -7.51864294e-01 -4.19474465e-03 1.04169707e+02] [ 7.51849788e-01 6.59317889e-01 -4.67089368e-03 4.76448805e+01] [ 6.27754836e-03 -7.42764241e-05 9.99980293e-01 6.56124308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.631858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.19, Y:47.66, Z:0.66 [[ 6.60140163e-01 -7.51130734e-01 -4.19345972e-03 1.04186157e+02] [ 7.51116207e-01 6.60153479e-01 -4.67204699e-03 4.76620305e+01] [ 6.27764510e-03 -6.55696978e-05 9.99980293e-01 6.55167160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.661858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.21, Y:47.69, Z:0.66 [[ 6.56926589e-01 -7.53943191e-01 -4.13786060e-03 1.04207613e+02] [ 7.53928404e-01 6.56939621e-01 -4.72189088e-03 4.76855011e+01] [ 6.27836205e-03 -1.77149704e-05 9.99980291e-01 6.56706690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.691858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:104.23, Y:47.71, Z:0.66 [[ 6.55262415e-01 -7.55389698e-01 -4.19179289e-03 1.04226443e+02] [ 7.55375248e-01 6.55275815e-01 -4.67351772e-03 4.77065045e+01] [ 6.27710763e-03 -1.03996085e-04 9.99980293e-01 6.58457159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:47.73, Z:0.66 [[ 6.57631488e-01 -7.53328127e-01 -4.19047787e-03 1.04254050e+02] [ 7.53313627e-01 6.57644833e-01 -4.67469652e-03 4.77286804e+01] [ 6.27742649e-03 -8.25164575e-05 9.99980293e-01 6.58135335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.751858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:104.27, Y:47.75, Z:0.66 [[ 6.54498874e-01 -7.56050826e-01 -4.28624615e-03 1.04267618e+02] [ 7.56036938e-01 6.54512866e-01 -4.58881312e-03 4.77505942e+01] [ 6.27477920e-03 -2.37187395e-04 9.99980285e-01 6.60331946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:47.77, Z:0.66 [[ 6.55687933e-01 -7.55020156e-01 -4.23061537e-03 1.04288788e+02] [ 7.55005922e-01 6.55701564e-01 -4.63863855e-03 4.77738727e+01] [ 6.27628671e-03 -1.52640335e-04 9.99980292e-01 6.59821309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.811858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:104.30, Y:47.79, Z:0.66 [[ 6.52748692e-01 -7.57562418e-01 -4.28112629e-03 1.04297360e+02] [ 7.57548532e-01 6.52762685e-01 -4.59338396e-03 4.77937217e+01] [ 6.27433455e-03 -2.44835560e-04 9.99980286e-01 6.59555866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.841858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.32, Y:47.82, Z:0.66 [[ 6.52077462e-01 -7.58140800e-01 -4.18470402e-03 1.04315569e+02] [ 7.58126367e-01 6.52090878e-01 -4.67960890e-03 4.78157269e+01] [ 6.27660975e-03 -1.21066961e-04 9.99980295e-01 6.59175461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.871858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:104.33, Y:47.84, Z:0.66 [[ 6.52071731e-01 -7.58145736e-01 -4.18338519e-03 1.04334051e+02] [ 7.58131295e-01 6.52085139e-01 -4.68078758e-03 4.78369771e+01] [ 6.27664246e-03 -1.19345973e-04 9.99980295e-01 6.58988020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:47.86, Z:0.66 [[ 6.53036131e-01 -7.57315206e-01 -4.18206458e-03 1.04350542e+02] [ 7.57300741e-01 6.53049513e-01 -4.68196719e-03 4.78576185e+01] [ 6.27682019e-03 -1.09586869e-04 9.99980295e-01 6.59149683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.931858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:104.37, Y:47.88, Z:0.66 [[ 6.53911336e-01 -7.56559734e-01 -4.16341311e-03 1.04367120e+02] [ 7.56545147e-01 6.53924586e-01 -4.69861289e-03 4.78784573e+01] [ 6.27733951e-03 -7.73337555e-05 9.99980294e-01 6.58702089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.961858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:104.39, Y:47.90, Z:0.66 [[ 6.52926325e-01 -7.57410083e-01 -4.14482184e-03 1.04385389e+02] [ 7.57395408e-01 6.52939478e-01 -4.71519053e-03 4.79018819e+01] [ 6.27765066e-03 -6.05970026e-05 9.99980294e-01 6.57586433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:47.92, Z:0.66 [[ 6.52603831e-01 -7.57687784e-01 -4.17868511e-03 1.04402522e+02] [ 7.57673308e-01 6.52617200e-01 -4.68498684e-03 4.79240666e+01] [ 6.27683907e-03 -1.08637815e-04 9.99980295e-01 6.57330935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.42, Y:47.94, Z:0.66 [[ 6.53342732e-01 -7.57050740e-01 -4.17740106e-03 1.04419427e+02] [ 7.57036244e-01 6.53356079e-01 -4.68613149e-03 4.79433182e+01] [ 6.27696969e-03 -1.00794053e-04 9.99980295e-01 6.58279779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.051858064 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:104.44, Y:47.97, Z:0.66 [[ 6.51717392e-01 -7.58450606e-01 -4.13758446e-03 1.04437203e+02] [ 7.58435912e-01 6.51730523e-01 -4.72152208e-03 4.79652171e+01] [ 6.27763137e-03 -6.09945883e-05 9.99980294e-01 6.58224327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:47.98, Z:0.66 [[ 6.51031142e-01 -7.59039801e-01 -4.12708413e-03 1.04456380e+02] [ 7.59025060e-01 6.51044221e-01 -4.73084780e-03 4.79846987e+01] [ 6.27781605e-03 -5.26310333e-05 9.99980293e-01 6.58701442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.47, Y:48.01, Z:0.66 [[ 6.49004945e-01 -7.60772917e-01 -4.14129903e-03 1.04473309e+02] [ 7.60758291e-01 6.49018151e-01 -4.71820799e-03 4.80069847e+01] [ 6.27726309e-03 -8.83872619e-05 9.99980294e-01 6.60427326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:48.03, Z:0.66 [[ 6.46626065e-01 -7.62795963e-01 -4.12929743e-03 1.04493548e+02] [ 7.62781310e-01 6.46639243e-01 -4.72887848e-03 4.80315591e+01] [ 6.27733518e-03 -9.19348218e-05 9.99980293e-01 6.61018622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.171858064 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:104.51, Y:48.05, Z:0.66 [[ 6.45043269e-01 -7.64134658e-01 -4.17213409e-03 1.04510021e+02] [ 7.64120277e-01 6.45056741e-01 -4.69077814e-03 4.80531714e+01] [ 6.27564937e-03 -1.62257392e-04 9.99980295e-01 6.62595121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:48.08, Z:0.66 [[ 6.43119766e-01 -7.65754351e-01 -4.15210708e-03 1.04530888e+02] [ 7.65739890e-01 6.43133151e-01 -4.70858572e-03 4.80771670e+01] [ 6.27597771e-03 -1.51249472e-04 9.99980294e-01 6.64217238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.231858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:104.55, Y:48.10, Z:0.67 [[ 6.44085046e-01 -7.64942349e-01 -4.20198290e-03 1.04548575e+02] [ 7.64928157e-01 6.44098718e-01 -4.66440123e-03 4.80967232e+01] [ 6.27448983e-03 -2.09943950e-04 9.99980293e-01 6.67073405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.57, Y:48.12, Z:0.67 [[ 6.40596310e-01 -7.67866452e-01 -4.18084105e-03 1.04566105e+02] [ 7.67852200e-01 6.40609918e-01 -4.68310832e-03 4.81215489e+01] [ 6.27429002e-03 -2.10286095e-04 9.99980294e-01 6.65480148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.291858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:104.58, Y:48.14, Z:0.67 [[ 6.40430125e-01 -7.68004949e-01 -4.20157310e-03 1.04582074e+02] [ 7.67990820e-01 6.40443862e-01 -4.66476820e-03 4.81422088e+01] [ 6.27343677e-03 -2.39311487e-04 9.99980293e-01 6.66058639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.321858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.60, Y:48.17, Z:0.67 [[ 6.40256217e-01 -7.68150052e-01 -4.18025751e-03 1.04598538e+02] [ 7.68135802e-01 6.40269828e-01 -4.68361952e-03 4.81650368e+01] [ 6.27421533e-03 -2.12288943e-04 9.99980294e-01 6.65011763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.62, Y:48.19, Z:0.67 [[ 6.40676522e-01 -7.67799540e-01 -4.17848980e-03 1.04619546e+02] [ 7.67785273e-01 6.40690115e-01 -4.68518196e-03 4.81877074e+01] [ 6.27439766e-03 -2.06496845e-04 9.99980294e-01 6.65364708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.63, Y:48.21, Z:0.66 [[ 6.40089183e-01 -7.68289025e-01 -4.22048123e-03 1.04633441e+02] [ 7.68275011e-01 6.40103041e-01 -4.64806420e-03 4.82092739e+01] [ 6.27259959e-03 -2.67314650e-04 9.99980291e-01 6.64783316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.411858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:104.65, Y:48.23, Z:0.66 [[ 6.39798803e-01 -7.68531103e-01 -4.17560636e-03 1.04652608e+02] [ 7.68516835e-01 6.39812395e-01 -4.68766120e-03 4.82330904e+01] [ 6.27421814e-03 -2.09863755e-04 9.99980295e-01 6.64858897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:48.26, Z:0.67 [[ 6.40516026e-01 -7.67933389e-01 -4.18699401e-03 1.04669808e+02] [ 7.67919174e-01 6.40529673e-01 -4.67762351e-03 4.82581942e+01] [ 6.27399718e-03 -2.19180164e-04 9.99980294e-01 6.65417288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.471858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.68, Y:48.28, Z:0.66 [[ 6.41289804e-01 -7.67287220e-01 -4.20823346e-03 1.04684618e+02] [ 7.67273113e-01 6.41303567e-01 -4.65890700e-03 4.82791119e+01] [ 6.27347492e-03 -2.41154828e-04 9.99980292e-01 6.63556991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:48.30, Z:0.66 [[ 6.41625127e-01 -7.67006925e-01 -4.19202847e-03 1.04701496e+02] [ 7.66992719e-01 6.41638785e-01 -4.67318775e-03 4.83020021e+01] [ 6.27413542e-03 -2.16820634e-04 9.99980294e-01 6.64219040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.531858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:104.72, Y:48.32, Z:0.66 [[ 6.41097135e-01 -7.67448317e-01 -4.18860832e-03 1.04717091e+02] [ 7.67434101e-01 6.41110781e-01 -4.67620533e-03 4.83248679e+01] [ 6.27410786e-03 -2.16579026e-04 9.99980294e-01 6.64272793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.74, Y:48.35, Z:0.67 [[ 6.42598220e-01 -7.66191947e-01 -4.17481266e-03 1.04736695e+02] [ 7.66177625e-01 6.42611754e-01 -4.68836381e-03 4.83489155e+01] [ 6.27497028e-03 -1.85913807e-04 9.99980295e-01 6.65277193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:48.37, Z:0.67 [[ 6.41433712e-01 -7.67166975e-01 -4.19812579e-03 1.04753502e+02] [ 7.67152808e-01 6.41447411e-01 -4.66789827e-03 4.83717146e+01] [ 6.27393432e-03 -2.26456671e-04 9.99980293e-01 6.66534632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.621858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.77, Y:48.39, Z:0.67 [[ 6.39347416e-01 -7.68906598e-01 -4.18619075e-03 1.04765459e+02] [ 7.68892399e-01 6.39361080e-01 -4.67836697e-03 4.83923769e+01] [ 6.27371467e-03 -2.27628410e-04 9.99980294e-01 6.67696973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.651858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.79, Y:48.42, Z:0.67 [[ 6.41658853e-01 -7.66979011e-01 -4.13680949e-03 1.04787756e+02] [ 7.66964490e-01 6.41672172e-01 -4.72163187e-03 4.84164297e+01] [ 6.27586807e-03 -1.43109087e-04 9.99980296e-01 6.69853594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.681858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:104.80, Y:48.44, Z:0.67 [[ 6.39552569e-01 -7.68735898e-01 -4.19882428e-03 1.04800018e+02] [ 7.68721769e-01 6.39566306e-01 -4.66720055e-03 4.84388693e+01] [ 6.27327114e-03 -2.42807521e-04 9.99980293e-01 6.69391909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:48.46, Z:0.67 [[ 6.39012623e-01 -7.69185008e-01 -4.15824203e-03 1.04814059e+02] [ 7.69170656e-01 6.39026123e-01 -4.70279865e-03 4.84609293e+01] [ 6.27454750e-03 -1.93250050e-04 9.99980296e-01 6.67937704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.741858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.83, Y:48.49, Z:0.67 [[ 6.42511239e-01 -7.66265084e-01 -4.13868519e-03 1.04830949e+02] [ 7.66250560e-01 6.42524553e-01 -4.71993925e-03 4.84863090e+01] [ 6.27593150e-03 -1.38655829e-04 9.99980297e-01 6.68473201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:48.51, Z:0.67 [[ 6.44453454e-01 -7.64632239e-01 -4.15747098e-03 1.04848765e+02] [ 7.64617787e-01 6.44466847e-01 -4.70347625e-03 4.85099356e+01] [ 6.27578180e-03 -1.47704746e-04 9.99980296e-01 6.66517178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:48.53, Z:0.67 [[ 6.46951740e-01 -7.62519562e-01 -4.16695871e-03 1.04863380e+02] [ 7.62505120e-01 6.46965144e-01 -4.69516592e-03 4.85338992e+01] [ 6.27603291e-03 -1.39781586e-04 9.99980296e-01 6.65057394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:48.56, Z:0.66 [[ 6.47158515e-01 -7.62344093e-01 -4.16410634e-03 1.04879137e+02] [ 7.62329631e-01 6.47171898e-01 -4.69766243e-03 4.85575537e+01] [ 6.27612781e-03 -1.34289415e-04 9.99980296e-01 6.62985947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:48.58, Z:0.67 [[ 6.49035758e-01 -7.60746569e-01 -4.15245237e-03 1.04894770e+02] [ 7.60732008e-01 6.49049033e-01 -4.70785584e-03 4.85790389e+01] [ 6.27663037e-03 -1.03336647e-04 9.99980296e-01 6.65436701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:48.60, Z:0.66 [[ 6.49999083e-01 -7.59923762e-01 -4.13144366e-03 1.04912848e+02] [ 7.59909068e-01 6.50012209e-01 -4.72622069e-03 4.86025333e+01] [ 6.27705622e-03 -6.74823894e-05 9.99980297e-01 6.63365115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:48.63, Z:0.66 [[ 6.50217426e-01 -7.59736832e-01 -4.15275666e-03 1.04925588e+02] [ 7.59722253e-01 6.50230680e-01 -4.70759354e-03 4.86263220e+01] [ 6.27678199e-03 -9.39822892e-05 9.99980296e-01 6.63268537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:48.65, Z:0.66 [[ 6.49558762e-01 -7.60300179e-01 -4.12953959e-03 1.04942958e+02] [ 7.60285482e-01 6.49571885e-01 -4.72787239e-03 4.86489718e+01] [ 6.27703504e-03 -6.85980619e-05 9.99980297e-01 6.62016530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:48.67, Z:0.66 [[ 6.49150500e-01 -7.60648759e-01 -4.13451347e-03 1.04960651e+02] [ 7.60634096e-01 6.49163662e-01 -4.72353022e-03 4.86717437e+01] [ 6.27692331e-03 -7.85699094e-05 9.99980297e-01 6.62669393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:48.69, Z:0.66 [[ 6.48005621e-01 -7.61624289e-01 -4.14213929e-03 1.04978065e+02] [ 7.61609689e-01 6.48018852e-01 -4.71687842e-03 4.86935560e+01] [ 6.27667352e-03 -9.81296870e-05 9.99980297e-01 6.63511577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:48.72, Z:0.66 [[ 6.45413709e-01 -7.63821966e-01 -4.14101370e-03 1.04992855e+02] [ 7.63807405e-01 6.45426983e-01 -4.71785959e-03 4.87162305e+01] [ 6.27632677e-03 -1.17965674e-04 9.99980297e-01 6.63186494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:48.74, Z:0.66 [[ 6.44774136e-01 -7.64361987e-01 -4.13116299e-03 1.05009445e+02] [ 7.64347382e-01 6.44787361e-01 -4.72644200e-03 4.87386517e+01] [ 6.27643428e-03 -1.10156058e-04 9.99980297e-01 6.63493886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101858064 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:105.03, Y:48.76, Z:0.66 [[ 6.43621955e-01 -7.65332468e-01 -4.12214986e-03 1.05027183e+02] [ 7.65317833e-01 6.43635146e-01 -4.73428974e-03 4.87623057e+01] [ 6.27646618e-03 -1.07661987e-04 9.99980297e-01 6.60852773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.04, Y:48.79, Z:0.66 [[ 6.44179437e-01 -7.64863250e-01 -4.13046791e-03 1.05043304e+02] [ 7.64848652e-01 6.44192669e-01 -4.72705072e-03 4.87858979e+01] [ 6.27636452e-03 -1.14113941e-04 9.99980297e-01 6.64033674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:48.81, Z:0.66 [[ 6.44522892e-01 -7.64573916e-01 -4.11920240e-03 1.05060195e+02] [ 7.64559249e-01 6.44536048e-01 -4.73684730e-03 4.88085059e+01] [ 6.27664433e-03 -9.63677717e-05 9.99980297e-01 6.62833819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.08, Y:48.83, Z:0.66 [[ 6.44646549e-01 -7.64469649e-01 -4.12111165e-03 1.05077841e+02] [ 7.64454990e-01 6.44659714e-01 -4.73518741e-03 4.88321046e+01] [ 6.27662171e-03 -9.78821415e-05 9.99980297e-01 6.64228565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:48.85, Z:0.67 [[ 6.47590624e-01 -7.61977226e-01 -4.13413758e-03 1.05092161e+02] [ 7.61962588e-01 6.47603814e-01 -4.72386688e-03 4.88540583e+01] [ 6.27676224e-03 -9.09262638e-05 9.99980297e-01 6.65239469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:48.88, Z:0.66 [[ 6.49033928e-01 -7.60748330e-01 -4.11565131e-03 1.05109843e+02] [ 7.60733565e-01 6.49046975e-01 -4.73992016e-03 4.88763119e+01] [ 6.27713737e-03 -5.45450933e-05 9.99980297e-01 6.63612589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:48.90, Z:0.66 [[ 6.50511864e-01 -7.59484924e-01 -4.11878834e-03 1.05122247e+02] [ 7.59470152e-01 6.50524902e-01 -4.73719699e-03 4.88976642e+01] [ 6.27720407e-03 -4.64939617e-05 9.99980297e-01 6.58685115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.311858064 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:105.14, Y:48.92, Z:0.66 [[ 6.53312536e-01 -7.57077415e-01 -4.06415974e-03 1.05143896e+02] [ 7.57062298e-01 6.53325175e-01 -4.78454955e-03 4.89204325e+01] [ 6.27749228e-03 4.89840872e-05 9.99980295e-01 6.60476781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:48.94, Z:0.66 [[ 6.54564311e-01 -7.55995097e-01 -4.12017174e-03 1.05161850e+02] [ 7.55980263e-01 6.54577278e-01 -4.73597250e-03 4.89422279e+01] [ 6.27734279e-03 -1.47699398e-05 9.99980297e-01 6.62440030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:48.96, Z:0.66 [[ 6.54210884e-01 -7.56301011e-01 -4.11104092e-03 1.05178321e+02] [ 7.56286133e-01 6.54223800e-01 -4.74388524e-03 4.89639632e+01] [ 6.27734602e-03 -5.62188226e-06 9.99980297e-01 6.59424390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:48.98, Z:0.66 [[ 6.55705131e-01 -7.55006022e-01 -4.08511037e-03 1.05199850e+02] [ 7.54990978e-01 6.55717855e-01 -4.76633650e-03 4.89844849e+01] [ 6.27729257e-03 4.10898281e-05 9.99980297e-01 6.62583390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:49.01, Z:0.66 [[ 6.55496991e-01 -7.55186606e-01 -4.10918984e-03 1.05218500e+02] [ 7.55171696e-01 6.55509870e-01 -4.74548571e-03 4.90061156e+01] [ 6.27734175e-03 7.50774199e-06 9.99980297e-01 6.62771734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:49.03, Z:0.66 [[ 6.55571541e-01 -7.55121897e-01 -4.10788142e-03 1.05237118e+02] [ 7.55106979e-01 6.55584411e-01 -4.74661806e-03 4.90258608e+01] [ 6.27733826e-03 9.85778745e-06 9.99980297e-01 6.62632489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:49.05, Z:0.66 [[ 6.54570101e-01 -7.55990155e-01 -4.10714784e-03 1.05255088e+02] [ 7.55975250e-01 6.54582986e-01 -4.74725273e-03 4.90466722e+01] [ 6.27734542e-03 2.50758357e-06 9.99980297e-01 6.61610107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.27, Y:49.07, Z:0.66 [[ 6.54080406e-01 -7.56413901e-01 -4.10277067e-03 1.05274221e+02] [ 7.56398980e-01 6.54093274e-01 -4.75103777e-03 4.90657733e+01] [ 6.27734572e-03 4.22916493e-06 9.99980297e-01 6.61682057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:49.09, Z:0.66 [[ 6.54787335e-01 -7.55802062e-01 -4.09760123e-03 1.05293546e+02] [ 7.55787101e-01 6.54800155e-01 -4.75550590e-03 4.90854253e+01] [ 6.27733108e-03 1.69308803e-05 9.99980297e-01 6.64474318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.581858064 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:105.31, Y:49.11, Z:0.66 [[ 6.55167766e-01 -7.55472270e-01 -4.10466859e-03 1.05311901e+02] [ 7.55457341e-01 6.55180624e-01 -4.74939793e-03 4.91050379e+01] [ 6.27733776e-03 1.07504148e-05 9.99980297e-01 6.62752284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:49.12, Z:0.66 [[ 6.56430881e-01 -7.54375042e-01 -4.09805207e-03 1.05332186e+02] [ 7.54360056e-01 6.56443673e-01 -4.75511352e-03 4.91220287e+01] [ 6.27727931e-03 2.99965755e-05 9.99980297e-01 6.63933763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:49.14, Z:0.67 [[ 6.55778230e-01 -7.54942539e-01 -4.08363916e-03 1.05353584e+02] [ 7.54927486e-01 6.55790943e-01 -4.76757090e-03 4.91436646e+01] [ 6.27725565e-03 4.36177583e-05 9.99980297e-01 6.66215654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.671858064 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:105.37, Y:49.16, Z:0.67 [[ 6.56877956e-01 -7.53985744e-01 -4.10464763e-03 1.05371573e+02] [ 7.53970786e-01 6.56890780e-01 -4.74941448e-03 4.91607891e+01] [ 6.27729599e-03 2.50012801e-05 9.99980297e-01 6.66104470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:49.18, Z:0.67 [[ 6.57030730e-01 -7.53852775e-01 -4.07598119e-03 1.05394114e+02] [ 7.53837660e-01 6.57043370e-01 -4.77416450e-03 4.91810823e+01] [ 6.27711357e-03 6.41446647e-05 9.99980297e-01 6.66677604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:49.20, Z:0.67 [[ 6.57960333e-01 -7.53041418e-01 -4.10162688e-03 1.05413955e+02] [ 7.53026425e-01 6.57973116e-01 -4.75202889e-03 4.92006557e+01] [ 6.27723479e-03 3.80130825e-05 9.99980297e-01 6.66960956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:49.22, Z:0.67 [[ 6.58739060e-01 -7.52360312e-01 -4.10031179e-03 1.05434375e+02] [ 7.52345298e-01 6.58751819e-01 -4.75316336e-03 4.92208532e+01] [ 6.27717931e-03 4.62440690e-05 9.99980297e-01 6.67246076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.791858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.46, Y:49.24, Z:0.67 [[ 6.60857582e-01 -7.50500114e-01 -4.10308241e-03 1.05455678e+02] [ 7.50485080e-01 6.60870317e-01 -4.75077354e-03 4.92385164e+01] [ 6.27706145e-03 6.02825804e-05 9.99980297e-01 6.65317388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:49.26, Z:0.67 [[ 6.60955914e-01 -7.50413578e-01 -4.09150153e-03 1.05476121e+02] [ 7.50398481e-01 6.60968574e-01 -4.76075551e-03 4.92587132e+01] [ 6.27688950e-03 7.63929797e-05 9.99980297e-01 6.66914157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.851858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:105.50, Y:49.27, Z:0.66 [[ 6.62535364e-01 -7.49019428e-01 -4.09737373e-03 1.05498137e+02] [ 7.49004334e-01 6.62548029e-01 -4.75569618e-03 4.92747977e+01] [ 6.27681572e-03 8.18662222e-05 9.99980297e-01 6.64760898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:105.52, Y:49.30, Z:0.67 [[ 6.62639885e-01 -7.48927075e-01 -4.07658369e-03 1.05523848e+02] [ 7.48911870e-01 6.62652415e-01 -4.77359736e-03 4.92958699e+01] [ 6.27643434e-03 1.10174093e-04 9.99980297e-01 6.66644881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.54, Y:49.31, Z:0.67 [[ 6.61438401e-01 -7.49988042e-01 -4.14467110e-03 1.05540521e+02] [ 7.49973221e-01 6.61451387e-01 -4.71497087e-03 4.93143336e+01] [ 6.27767022e-03 1.02704544e-05 9.99980295e-01 6.67521951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941858064 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:105.56, Y:49.33, Z:0.67 [[ 6.60590247e-01 -7.50735525e-01 -4.08622748e-03 1.05560935e+02] [ 7.50720406e-01 6.60602880e-01 -4.76522416e-03 4.93336559e+01] [ 6.27679671e-03 8.02462547e-05 9.99980298e-01 6.67103934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.971858064 meters Centerline goodness : 0.996336 Centerline is valid? [True, True] Translation: X:105.58, Y:49.35, Z:0.67 [[ 6.60089562e-01 -7.51175765e-01 -4.09143573e-03 1.05581407e+02] [ 7.51160682e-01 6.60102238e-01 -4.76074762e-03 4.93527073e+01] [ 6.27692412e-03 6.91941620e-05 9.99980298e-01 6.68640103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:49.37, Z:0.67 [[ 6.57809600e-01 -7.53173209e-01 -4.08012182e-03 1.05604432e+02] [ 7.53158104e-01 6.57822251e-01 -4.77046570e-03 4.93694455e+01] [ 6.27698188e-03 6.50813208e-05 9.99980297e-01 6.68916190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:49.39, Z:0.67 [[ 6.56790042e-01 -7.54062481e-01 -4.07624784e-03 1.05626001e+02] [ 7.54047372e-01 6.56802688e-01 -4.77379405e-03 4.93880917e+01] [ 6.27702953e-03 6.16964205e-05 9.99980297e-01 6.71626045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:49.40, Z:0.67 [[ 6.54866065e-01 -7.55733975e-01 -4.07371395e-03 1.05650805e+02] [ 7.55718885e-01 6.54878734e-01 -4.77596977e-03 4.94044034e+01] [ 6.27715125e-03 4.90379663e-05 9.99980297e-01 6.72464074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:49.42, Z:0.67 [[ 6.52933953e-01 -7.57403783e-01 -4.09432195e-03 1.05671035e+02] [ 7.57388836e-01 6.52946790e-01 -4.75828206e-03 4.94245202e+01] [ 6.27731520e-03 5.85017228e-06 9.99980297e-01 6.72960469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:105.69, Y:49.44, Z:0.67 [[ 6.52512687e-01 -7.57766775e-01 -4.08754157e-03 1.05692245e+02] [ 7.57751799e-01 6.52525489e-01 -4.76409954e-03 4.94436397e+01] [ 6.27730141e-03 1.12934107e-05 9.99980297e-01 6.72584842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.151858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:105.71, Y:49.46, Z:0.67 [[ 6.51550145e-01 -7.58594614e-01 -4.07671728e-03 1.05714324e+02] [ 7.58579596e-01 6.51562898e-01 -4.77338252e-03 4.94599576e+01] [ 6.27730000e-03 1.75835242e-05 9.99980297e-01 6.73087370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:105.74, Y:49.48, Z:0.67 [[ 6.51660113e-01 -7.58500185e-01 -4.07027917e-03 1.05737292e+02] [ 7.58485130e-01 6.51672824e-01 -4.77890195e-03 4.94798413e+01] [ 6.27728833e-03 2.69735613e-05 9.99980297e-01 6.73045833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.211858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:105.75, Y:49.50, Z:0.67 [[ 6.51175889e-01 -7.58915757e-01 -4.10316530e-03 1.05754806e+02] [ 7.58900888e-01 6.51188816e-01 -4.75070188e-03 4.94979067e+01] [ 6.27731787e-03 -2.03532705e-05 9.99980297e-01 6.73020269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:49.52, Z:0.67 [[ 6.49608914e-01 -7.60257708e-01 -4.05907446e-03 1.05778474e+02] [ 7.60242628e-01 6.49621595e-01 -4.78846115e-03 4.95161177e+01] [ 6.27732693e-03 2.47456115e-05 9.99980297e-01 6.72413662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.80, Y:49.54, Z:0.67 [[ 6.49684667e-01 -7.60192848e-01 -4.08261687e-03 1.05802280e+02] [ 7.60177893e-01 6.49697494e-01 -4.76830417e-03 4.95361413e+01] [ 6.27729668e-03 -5.62098368e-06 9.99980298e-01 6.72698215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.301858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:105.82, Y:49.55, Z:0.67 [[ 6.48125709e-01 -7.61522253e-01 -4.11384252e-03 1.05819225e+02] [ 7.61507494e-01 6.48138762e-01 -4.74157346e-03 4.95541645e+01] [ 6.27715450e-03 -5.95862452e-05 9.99980297e-01 6.72169918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.331858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.84, Y:49.57, Z:0.67 [[ 6.46093749e-01 -7.63247155e-01 -4.08019115e-03 1.05841886e+02] [ 7.63232248e-01 6.46106631e-01 -4.77035622e-03 4.95719683e+01] [ 6.27719938e-03 -3.20361307e-05 9.99980298e-01 6.72722611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.361858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.86, Y:49.59, Z:0.67 [[ 6.45113086e-01 -7.64076219e-01 -4.07886573e-03 1.05862171e+02] [ 7.64061322e-01 6.45125980e-01 -4.77148925e-03 4.95911575e+01] [ 6.27716372e-03 -3.83533869e-05 9.99980298e-01 6.72762007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.88, Y:49.61, Z:0.67 [[ 6.44720815e-01 -7.64407250e-01 -4.07754873e-03 1.05883001e+02] [ 7.64392352e-01 6.44733708e-01 -4.77261445e-03 4.96097796e+01] [ 6.27715420e-03 -3.98431877e-05 9.99980298e-01 6.72598272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.421858064 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:105.90, Y:49.63, Z:0.67 [[ 6.44078821e-01 -7.64948205e-01 -4.08862670e-03 1.05901677e+02] [ 7.64933377e-01 6.44091795e-01 -4.76314589e-03 4.96314568e+01] [ 6.27701081e-03 -5.96856417e-05 9.99980298e-01 6.72003609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.451858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:105.92, Y:49.66, Z:0.67 [[ 6.44101097e-01 -7.64929448e-01 -4.08854371e-03 1.05919283e+02] [ 7.64914620e-01 6.44114071e-01 -4.76321678e-03 4.96550107e+01] [ 6.27701332e-03 -5.93937062e-05 9.99980298e-01 6.73700710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.481858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.94, Y:49.68, Z:0.67 [[ 6.46045850e-01 -7.63287570e-01 -4.10426244e-03 1.05938916e+02] [ 7.63272794e-01 6.46058884e-01 -4.74981703e-03 4.96756419e+01] [ 6.27707151e-03 -6.40722808e-05 9.99980297e-01 6.73754242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.511858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:105.95, Y:49.70, Z:0.68 [[ 6.45026463e-01 -7.64149282e-01 -4.09104675e-03 1.05954969e+02] [ 7.64134452e-01 6.45039434e-01 -4.76106906e-03 4.96975515e+01] [ 6.27705399e-03 -5.50942345e-05 9.99980298e-01 6.75126315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.541858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:105.97, Y:49.72, Z:0.67 [[ 6.45280941e-01 -7.63934525e-01 -4.06807840e-03 1.05972088e+02] [ 7.63919567e-01 6.45293764e-01 -4.78061406e-03 4.97179724e+01] [ 6.27718175e-03 -2.28455552e-05 9.99980298e-01 6.74552611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.99, Y:49.74, Z:0.67 [[ 6.43604984e-01 -7.65347034e-01 -4.06733757e-03 1.05988988e+02] [ 7.65332100e-01 6.43617834e-01 -4.78124428e-03 4.97403450e+01] [ 6.27712212e-03 -3.56313568e-05 9.99980298e-01 6.71764540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:106.00, Y:49.76, Z:0.67 [[ 6.43223701e-01 -7.65667532e-01 -4.06214105e-03 1.06004476e+02] [ 7.65652576e-01 6.43236527e-01 -4.78566435e-03 4.97620269e+01] [ 6.27714531e-03 -3.19360235e-05 9.99980298e-01 6.71074813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:49.78, Z:0.67 [[ 6.45804491e-01 -7.63492122e-01 -4.04211475e-03 1.06025396e+02] [ 7.63477016e-01 6.45817141e-01 -4.80269326e-03 4.97845674e+01] [ 6.27728546e-03 1.55391689e-05 9.99980298e-01 6.73711817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:106.04, Y:49.81, Z:0.67 [[ 6.45591662e-01 -7.63671963e-01 -4.06672804e-03 1.06042083e+02] [ 7.63656993e-01 6.45604471e-01 -4.78176048e-03 4.98060698e+01] [ 6.27719422e-03 -1.85206134e-05 9.99980298e-01 6.72442177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.06, Y:49.83, Z:0.67 [[ 6.44059826e-01 -7.64964319e-01 -4.06597443e-03 1.06058980e+02] [ 7.64949370e-01 6.44072659e-01 -4.78240119e-03 4.98281161e+01] [ 6.27714923e-03 -3.01120994e-05 9.99980298e-01 6.70785220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721858064 meters Centerline goodness : 0.995773 Centerline is valid? [True, True] Translation: X:106.08, Y:49.85, Z:0.67 [[ 6.46384383e-01 -7.63001060e-01 -4.07585135e-03 1.06078796e+02] [ 7.62986125e-01 6.46397232e-01 -4.77399905e-03 4.98487353e+01] [ 6.27718537e-03 -2.39796005e-05 9.99980298e-01 6.70379507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.751858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:106.09, Y:49.87, Z:0.67 [[ 6.44146029e-01 -7.64891637e-01 -4.08372008e-03 1.06089781e+02] [ 7.64876783e-01 6.44158971e-01 -4.76731280e-03 4.98672575e+01] [ 6.27704262e-03 -5.26970663e-05 9.99980298e-01 6.66804048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:106.12, Y:49.89, Z:0.67 [[ 6.47834509e-01 -7.61770654e-01 -3.98990608e-03 1.06116114e+02] [ 7.61755236e-01 6.47846788e-01 -4.84769741e-03 4.98900682e+01] [ 6.27768146e-03 1.01173823e-04 9.99980290e-01 6.71056974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.811858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:106.14, Y:49.91, Z:0.67 [[ 6.49201956e-01 -7.60605192e-01 -4.06979143e-03 1.06136280e+02] [ 7.60590176e-01 6.49214712e-01 -4.77922564e-03 4.99109639e+01] [ 6.27727230e-03 7.23925243e-06 9.99980298e-01 6.70436077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.15, Y:49.93, Z:0.67 [[ 6.45248919e-01 -7.63961483e-01 -4.08466020e-03 1.06146810e+02] [ 7.63946615e-01 6.45261846e-01 -4.76648435e-03 4.99317815e+01] [ 6.27708583e-03 -4.48934525e-05 9.99980298e-01 6.65534143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.871858064 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:106.17, Y:49.95, Z:0.67 [[ 6.48080838e-01 -7.61560976e-01 -4.01332197e-03 1.06171053e+02] [ 7.61545680e-01 6.48093260e-01 -4.82739765e-03 4.99531028e+01] [ 6.27736459e-03 7.22159076e-05 9.99980295e-01 6.68931716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:106.19, Y:49.97, Z:0.67 [[ 6.46546214e-01 -7.62863954e-01 -4.07196676e-03 1.06187457e+02] [ 7.62848995e-01 6.46559037e-01 -4.77729712e-03 4.99720740e+01] [ 6.27719468e-03 -1.75523891e-05 9.99980298e-01 6.70335914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.931858064 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:106.21, Y:49.99, Z:0.67 [[ 6.48632327e-01 -7.61091204e-01 -4.03531075e-03 1.06206916e+02] [ 7.61076015e-01 6.48644878e-01 -4.80858476e-03 4.99922334e+01] [ 6.27725521e-03 4.78253003e-05 9.99980297e-01 6.73562950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.22, Y:50.02, Z:0.67 [[ 6.44623115e-01 -7.64489913e-01 -4.02652868e-03 1.06223172e+02] [ 7.64474743e-01 6.44635689e-01 -4.81606431e-03 5.00159840e+01] [ 6.27747667e-03 2.63668984e-05 9.99980296e-01 6.72292756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.991858064 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:106.24, Y:50.04, Z:0.67 [[ 6.46976921e-01 -7.62498808e-01 -4.05359568e-03 1.06243476e+02] [ 7.62483743e-01 6.46989620e-01 -4.79301132e-03 5.00373012e+01] [ 6.27729975e-03 1.01669020e-05 9.99980298e-01 6.72909757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02185806399999 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:106.26, Y:50.06, Z:0.67 [[ 6.47499398e-01 -7.62055094e-01 -4.06981579e-03 1.06261157e+02] [ 7.62040107e-01 6.47512188e-01 -4.77919879e-03 5.00586979e+01] [ 6.27726811e-03 -6.83451960e-06 9.99980298e-01 6.72733219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.28, Y:50.08, Z:0.67 [[ 6.48156558e-01 -7.61496235e-01 -4.06940476e-03 1.06279825e+02] [ 7.61481236e-01 6.48169332e-01 -4.77954854e-03 5.00799070e+01] [ 6.27727159e-03 -8.79633841e-07 9.99980298e-01 6.73205261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.081858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.30, Y:50.10, Z:0.67 [[ 6.48464117e-01 -7.61234350e-01 -4.06857334e-03 1.06298641e+02] [ 7.61219341e-01 6.48476880e-01 -4.78025533e-03 5.01024448e+01] [ 6.27727031e-03 2.74733584e-06 9.99980298e-01 6.71300782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.111858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:106.32, Y:50.12, Z:0.67 [[ 6.49879008e-01 -7.60026787e-01 -4.06919367e-03 1.06319007e+02] [ 7.60011757e-01 6.49891747e-01 -4.77972810e-03 5.01240103e+01] [ 6.27725677e-03 1.36099230e-05 9.99980298e-01 6.72271291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.34, Y:50.15, Z:0.67 [[ 6.48770200e-01 -7.60973401e-01 -4.08781602e-03 1.06335350e+02] [ 7.60958489e-01 6.48783078e-01 -4.76390552e-03 5.01453335e+01] [ 6.27731125e-03 -1.99783690e-05 9.99980297e-01 6.72478148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.36, Y:50.17, Z:0.67 [[ 6.48104908e-01 -7.61540206e-01 -4.06735983e-03 1.06356050e+02] [ 7.61525196e-01 6.48117671e-01 -4.78127027e-03 5.01685589e+01] [ 6.27725732e-03 1.36773819e-06 9.99980298e-01 6.72843904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:50.19, Z:0.67 [[ 6.47378538e-01 -7.62157632e-01 -4.09536965e-03 1.06373301e+02] [ 7.62142784e-01 6.47391491e-01 -4.75749348e-03 5.01906822e+01] [ 6.27726743e-03 -4.13572528e-05 9.99980297e-01 6.73554100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:50.21, Z:0.67 [[ 6.46276803e-01 -7.63092097e-01 -4.09209829e-03 1.06391554e+02] [ 7.63077251e-01 6.46289757e-01 -4.76026948e-03 5.02130496e+01] [ 6.27720523e-03 -4.61353712e-05 9.99980297e-01 6.71498226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.41, Y:50.23, Z:0.67 [[ 6.44110892e-01 -7.64921139e-01 -4.09992570e-03 1.06406667e+02] [ 7.64906372e-01 6.44123936e-01 -4.75363124e-03 5.02344476e+01] [ 6.27701330e-03 -7.41936391e-05 9.99980297e-01 6.73174648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.291858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:106.43, Y:50.26, Z:0.67 [[ 6.43531079e-01 -7.65409136e-01 -4.07483656e-03 1.06425924e+02] [ 7.65394244e-01 6.43543978e-01 -4.77489541e-03 5.02550444e+01] [ 6.27708510e-03 -4.60628492e-05 9.99980298e-01 6.73470826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:106.44, Y:50.28, Z:0.67 [[ 6.43399041e-01 -7.65520200e-01 -4.06161824e-03 1.06443661e+02] [ 7.65505239e-01 6.43411861e-01 -4.78609305e-03 5.02761365e+01] [ 6.27714426e-03 -2.98223606e-05 9.99980298e-01 6.73637012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:50.30, Z:0.67 [[ 6.40453933e-01 -7.67985852e-01 -4.06081985e-03 1.06458848e+02] [ 7.67970936e-01 6.40466805e-01 -4.78676922e-03 5.02981043e+01] [ 6.27699135e-03 -5.28864480e-05 9.99980298e-01 6.71493417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:50.32, Z:0.67 [[ 6.39302164e-01 -7.68945025e-01 -4.03624300e-03 1.06479221e+02] [ 7.68929997e-01 6.39314904e-01 -4.80756449e-03 5.03204115e+01] [ 6.27718311e-03 -3.01019380e-05 9.99980298e-01 6.73661606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.50, Y:50.34, Z:0.67 [[ 6.37732030e-01 -7.70247575e-01 -4.06574976e-03 1.06498653e+02] [ 7.70232732e-01 6.37744985e-01 -4.78261017e-03 5.03432657e+01] [ 6.27670541e-03 -8.15498493e-05 9.99980298e-01 6.74308812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.52, Y:50.36, Z:0.67 [[ 6.36736381e-01 -7.71070738e-01 -4.08619791e-03 1.06515316e+02] [ 7.71056022e-01 6.36749482e-01 -4.76532135e-03 5.03639332e+01] [ 6.27628425e-03 -1.16434037e-04 9.99980297e-01 6.72854225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:50.39, Z:0.67 [[ 6.33536510e-01 -7.73702111e-01 -4.06621570e-03 1.06534070e+02] [ 7.73687340e-01 6.33549548e-01 -4.78219165e-03 5.03881197e+01] [ 6.27614090e-03 -1.16286604e-04 9.99980298e-01 6.74711398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:50.41, Z:0.68 [[ 6.30833180e-01 -7.75907704e-01 -4.09060493e-03 1.06547795e+02] [ 7.75893112e-01 6.30846420e-01 -4.76160428e-03 5.04088784e+01] [ 6.27510892e-03 -1.70094221e-04 9.99980297e-01 6.76961151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.531858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.57, Y:50.43, Z:0.68 [[ 6.30070407e-01 -7.76527477e-01 -4.04471975e-03 1.06565532e+02] [ 7.76512649e-01 6.30083378e-01 -4.80029190e-03 5.04303390e+01] [ 6.27606924e-03 -1.16254174e-04 9.99980299e-01 6.76626135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:50.45, Z:0.68 [[ 6.29205506e-01 -7.77228462e-01 -4.04333388e-03 1.06585092e+02] [ 7.77213641e-01 6.29218486e-01 -4.80145974e-03 5.04535725e+01] [ 6.27597159e-03 -1.21429341e-04 9.99980299e-01 6.77820014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.591858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.60, Y:50.48, Z:0.68 [[ 6.30689994e-01 -7.76024242e-01 -4.06290474e-03 1.06603070e+02] [ 7.76009502e-01 6.30703066e-01 -4.78497395e-03 5.04759256e+01] [ 6.27574226e-03 -1.35017493e-04 9.99980298e-01 6.78106655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:106.62, Y:50.50, Z:0.68 [[ 6.31250218e-01 -7.75568596e-01 -4.06391487e-03 1.06622194e+02] [ 7.75553852e-01 6.31263285e-01 -4.78412336e-03 5.04991954e+01] [ 6.27581609e-03 -1.31805917e-04 9.99980298e-01 6.78939004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:50.52, Z:0.68 [[ 6.33246181e-01 -7.73939694e-01 -4.07741291e-03 1.06640256e+02] [ 7.73924988e-01 6.33259294e-01 -4.77276097e-03 5.05221401e+01] [ 6.27588878e-03 -1.33279086e-04 9.99980298e-01 6.79525510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:50.54, Z:0.68 [[ 6.33518715e-01 -7.73716531e-01 -4.09483112e-03 1.06656654e+02] [ 7.73701916e-01 6.33531930e-01 -4.75809955e-03 5.05441222e+01] [ 6.27562654e-03 -1.53833573e-04 9.99980296e-01 6.80058360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:50.57, Z:0.68 [[ 6.33636087e-01 -7.73620440e-01 -4.08966571e-03 1.06674015e+02] [ 7.73605794e-01 6.33649268e-01 -4.76244399e-03 5.05672056e+01] [ 6.27573770e-03 -1.46132719e-04 9.99980297e-01 6.81376294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.69, Y:50.59, Z:0.68 [[ 6.35268940e-01 -7.72280181e-01 -4.08599370e-03 1.06692283e+02] [ 7.72265488e-01 6.35282067e-01 -4.76552910e-03 5.05898603e+01] [ 6.27608221e-03 -1.28079304e-04 9.99980297e-01 6.83719206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77185806399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:106.71, Y:50.61, Z:0.69 [[ 6.35906461e-01 -7.71755323e-01 -4.08588919e-03 1.06709471e+02] [ 7.71740619e-01 6.35919575e-01 -4.76561674e-03 5.06134754e+01] [ 6.27618701e-03 -1.22760180e-04 9.99980297e-01 6.85418258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.801858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:106.73, Y:50.64, Z:0.69 [[ 6.35656787e-01 -7.71960974e-01 -4.08701409e-03 1.06726107e+02] [ 7.71946280e-01 6.35669913e-01 -4.76467504e-03 5.06363168e+01] [ 6.27613508e-03 -1.26257303e-04 9.99980297e-01 6.85645591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.75, Y:50.66, Z:0.68 [[ 6.36500176e-01 -7.71265749e-01 -4.08285214e-03 1.06746266e+02] [ 7.71251018e-01 6.36513261e-01 -4.76815589e-03 5.06600880e+01] [ 6.27630486e-03 -1.13971809e-04 9.99980297e-01 6.84846351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.861858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:106.76, Y:50.68, Z:0.69 [[ 6.38770444e-01 -7.69386381e-01 -4.11298938e-03 1.06760840e+02] [ 7.69371773e-01 6.38783671e-01 -4.74295469e-03 5.06815842e+01] [ 6.27647520e-03 -1.34758660e-04 9.99980294e-01 6.85939890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.891858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:106.78, Y:50.71, Z:0.69 [[ 6.38613852e-01 -7.69516452e-01 -4.09604095e-03 1.06778752e+02] [ 7.69501756e-01 6.38626978e-01 -4.75712259e-03 5.07064728e+01] [ 6.27652635e-03 -1.13946322e-04 9.99980296e-01 6.87044828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.921858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:106.80, Y:50.73, Z:0.69 [[ 6.39677099e-01 -7.68632755e-01 -4.11058642e-03 1.06796158e+02] [ 7.68618119e-01 6.39690294e-01 -4.74497490e-03 5.07297593e+01] [ 6.27664536e-03 -1.24219419e-04 9.99980294e-01 6.86888044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.951858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.81, Y:50.75, Z:0.69 [[ 6.42050190e-01 -7.66651559e-01 -4.11590190e-03 1.06810951e+02] [ 7.66636910e-01 6.42063373e-01 -4.74053857e-03 5.07500270e+01] [ 6.27701114e-03 -1.11738625e-04 9.99980293e-01 6.87480407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.981858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:106.82, Y:50.77, Z:0.69 [[ 6.38714240e-01 -7.69433161e-01 -4.09026715e-03 1.06816989e+02] [ 7.69418433e-01 6.38727328e-01 -4.76195213e-03 5.07729349e+01] [ 6.27656929e-03 -1.05600305e-04 9.99980297e-01 6.85364814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:50.80, Z:0.69 [[ 6.38632909e-01 -7.69501033e-01 -4.02101126e-03 1.06834315e+02] [ 7.69485938e-01 6.38645567e-01 -4.81973106e-03 5.07956625e+01] [ 6.27678905e-03 -1.60727572e-05 9.99980301e-01 6.85173994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.041858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:106.85, Y:50.82, Z:0.69 [[ 6.39319942e-01 -7.68930331e-01 -4.01971041e-03 1.06851290e+02] [ 7.68915219e-01 6.39332578e-01 -4.82081574e-03 5.08169253e+01] [ 6.27680326e-03 -8.77287860e-06 9.99980301e-01 6.85122524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.071858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:106.87, Y:50.84, Z:0.69 [[ 6.36676284e-01 -7.71120850e-01 -3.99301265e-03 1.06869893e+02] [ 7.71105641e-01 6.36688805e-01 -4.84305836e-03 5.08389524e+01] [ 6.27688973e-03 4.42581556e-06 9.99980300e-01 6.86857849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101858064 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:106.89, Y:50.86, Z:0.69 [[ 6.35171563e-01 -7.72360630e-01 -4.01789262e-03 1.06887564e+02] [ 7.72345576e-01 6.35184269e-01 -4.82232874e-03 5.08610237e+01] [ 6.27667905e-03 -4.01955118e-05 9.99980301e-01 6.87309662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.131858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:106.90, Y:50.88, Z:0.69 [[ 6.34459973e-01 -7.72945283e-01 -4.01661796e-03 1.06903914e+02] [ 7.72930234e-01 6.34472685e-01 -4.82339020e-03 5.08828281e+01] [ 6.27665108e-03 -4.43174478e-05 9.99980301e-01 6.86928988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161858064 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:106.92, Y:50.91, Z:0.69 [[ 6.31838021e-01 -7.75090140e-01 -3.99885229e-03 1.06920151e+02] [ 7.75075041e-01 6.31850674e-01 -4.83817592e-03 5.09063928e+01] [ 6.27669996e-03 -4.24671038e-05 9.99980300e-01 6.85124299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.191858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:106.94, Y:50.93, Z:0.69 [[ 6.30503314e-01 -7.76176173e-01 -4.01500636e-03 1.06937585e+02] [ 7.76161181e-01 6.30516093e-01 -4.82473296e-03 5.09281102e+01] [ 6.27636889e-03 -7.42819560e-05 9.99980301e-01 6.85409657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:106.96, Y:50.95, Z:0.69 [[ 6.29396135e-01 -7.77074254e-01 -4.01362846e-03 1.06955059e+02] [ 7.77059273e-01 6.29408927e-01 -4.82587895e-03 5.09500702e+01] [ 6.27627986e-03 -8.14376540e-05 9.99980301e-01 6.86136573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.251858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:106.97, Y:50.97, Z:0.68 [[ 6.27524646e-01 -7.78586380e-01 -4.00837671e-03 1.06972345e+02] [ 7.78571402e-01 6.27537441e-01 -4.83024494e-03 5.09729742e+01] [ 6.27616939e-03 -8.97097303e-05 9.99980301e-01 6.84282551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:51.00, Z:0.68 [[ 6.31378050e-01 -7.75464804e-01 -4.01188275e-03 1.07002707e+02] [ 7.75449781e-01 6.31390793e-01 -4.82733116e-03 5.09976878e+01] [ 6.27649124e-03 -6.31426634e-05 9.99980301e-01 6.83050142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.311858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.01, Y:51.02, Z:0.68 [[ 6.25263436e-01 -7.80402772e-01 -4.14108063e-03 1.07007893e+02] [ 7.80388550e-01 6.25277086e-01 -4.71980027e-03 5.10164512e+01] [ 6.27266804e-03 -2.80533372e-04 9.99980287e-01 6.83883281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:107.03, Y:51.04, Z:0.68 [[ 6.22640772e-01 -7.82497534e-01 -4.00983499e-03 1.07025251e+02] [ 7.82482646e-01 6.22653669e-01 -4.82878704e-03 5.10382698e+01] [ 6.27525242e-03 -1.31026606e-04 9.99980302e-01 6.84178999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:51.06, Z:0.68 [[ 6.21362258e-01 -7.83513181e-01 -4.00502489e-03 1.07042745e+02] [ 7.83498288e-01 6.21375150e-01 -4.83277993e-03 5.10602356e+01] [ 6.27516971e-03 -1.35023097e-04 9.99980302e-01 6.83559230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.07, Y:51.08, Z:0.69 [[ 6.22588926e-01 -7.82538792e-01 -4.00862807e-03 1.07066652e+02] [ 7.82523898e-01 6.22601817e-01 -4.82978936e-03 5.10837077e+01] [ 6.27527665e-03 -1.29873893e-04 9.99980302e-01 6.85459445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.431858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.08, Y:51.11, Z:0.68 [[ 6.18262154e-01 -7.85961399e-01 -4.07296475e-03 1.07077051e+02] [ 7.85946925e-01 6.18275519e-01 -4.77636661e-03 5.11052973e+01] [ 6.27225418e-03 -2.48087409e-04 9.99980298e-01 6.83837924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.09, Y:51.13, Z:0.68 [[ 6.17633195e-01 -7.86456092e-01 -4.00650488e-03 1.07093851e+02] [ 7.86441268e-01 6.17646167e-01 -4.83147850e-03 5.11282662e+01] [ 6.27434809e-03 -1.66799274e-04 9.99980302e-01 6.83403180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.491858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:107.11, Y:51.15, Z:0.68 [[ 6.16629922e-01 -7.87243026e-01 -3.99468218e-03 1.07111801e+02] [ 7.87228156e-01 6.16642840e-01 -4.84127776e-03 5.11509953e+01] [ 6.27455432e-03 -1.59449554e-04 9.99980302e-01 6.83652055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:51.17, Z:0.68 [[ 6.15903122e-01 -7.87811719e-01 -4.00493337e-03 1.07128869e+02] [ 7.87796916e-01 6.15916117e-01 -4.83278259e-03 5.11725057e+01] [ 6.27402577e-03 -1.78548272e-04 9.99980302e-01 6.84391902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:51.19, Z:0.68 [[ 6.13861547e-01 -7.89403586e-01 -3.99742538e-03 1.07147803e+02] [ 7.89388776e-01 6.13874535e-01 -4.83900244e-03 5.11946320e+01] [ 6.27384352e-03 -1.85045207e-04 9.99980302e-01 6.80889821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:51.22, Z:0.69 [[ 6.12798554e-01 -7.90229028e-01 -4.00196848e-03 1.07163817e+02] [ 7.90214260e-01 6.12811589e-01 -4.83524012e-03 5.12153313e+01] [ 6.27339976e-03 -1.99384409e-04 9.99980302e-01 6.86189574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.18, Y:51.24, Z:0.69 [[ 6.12190869e-01 -7.90699958e-01 -3.98950674e-03 1.07180899e+02] [ 7.90685133e-01 6.12203839e-01 -4.84555598e-03 5.12370026e+01] [ 6.27377225e-03 -1.88038537e-04 9.99980302e-01 6.86934568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:51.26, Z:0.69 [[ 6.15097890e-01 -7.88440669e-01 -3.98712652e-03 1.07204988e+02] [ 7.88425784e-01 6.15110791e-01 -4.84752574e-03 5.12611425e+01] [ 6.27451098e-03 -1.61850494e-04 9.99980302e-01 6.89664725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:51.28, Z:0.69 [[ 6.15128711e-01 -7.88416225e-01 -4.06519268e-03 1.07220403e+02] [ 7.88401761e-01 6.15142087e-01 -4.78296316e-03 5.12834821e+01] [ 6.27163687e-03 -2.62867100e-04 9.99980299e-01 6.88361222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:51.31, Z:0.69 [[ 6.13743860e-01 -7.89494818e-01 -4.05046463e-03 1.07231288e+02] [ 7.89480297e-01 6.13757173e-01 -4.79515685e-03 5.13053195e+01] [ 6.27175320e-03 -2.54763945e-04 9.99980300e-01 6.89655974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:51.33, Z:0.69 [[ 6.16483532e-01 -7.87357656e-01 -3.99697042e-03 1.07253895e+02] [ 7.87342801e-01 6.16496468e-01 -4.83940017e-03 5.13298615e+01] [ 6.27445692e-03 -1.63575372e-04 9.99980302e-01 6.89142753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.27, Y:51.35, Z:0.69 [[ 6.18208288e-01 -7.86003815e-01 -4.06395384e-03 1.07267553e+02] [ 7.85989291e-01 6.18221600e-01 -4.78411741e-03 5.13533229e+01] [ 6.27275859e-03 -2.36643164e-04 9.99980298e-01 6.87591391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.28, Y:51.37, Z:0.69 [[ 6.21503230e-01 -7.83401205e-01 -4.03573202e-03 1.07284504e+02] [ 7.83386474e-01 6.21516308e-01 -4.80738489e-03 5.13738075e+01] [ 6.27438438e-03 -1.73732646e-04 9.99980301e-01 6.87484917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.30, Y:51.40, Z:0.69 [[ 6.21173915e-01 -7.83662364e-01 -4.03313885e-03 1.07299193e+02] [ 7.83647624e-01 6.21186984e-01 -4.80952308e-03 5.13968766e+01] [ 6.27437559e-03 -1.73009398e-04 9.99980301e-01 6.86636191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.851858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.31, Y:51.42, Z:0.68 [[ 6.19599585e-01 -7.84907815e-01 -4.00943516e-03 1.07312800e+02] [ 7.84892976e-01 6.19612538e-01 -4.82904927e-03 5.14196665e+01] [ 6.27465481e-03 -1.54900574e-04 9.99980302e-01 6.83807254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:51.44, Z:0.68 [[ 6.22828014e-01 -7.82348693e-01 -3.97340691e-03 1.07333244e+02] [ 7.82333609e-01 6.22840683e-01 -4.85871062e-03 5.14435767e+01] [ 6.27600538e-03 -8.23886883e-05 9.99980302e-01 6.84746280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.35, Y:51.46, Z:0.69 [[ 6.23089329e-01 -7.82140372e-01 -4.01583095e-03 1.07348904e+02] [ 7.82125508e-01 6.23102255e-01 -4.82375229e-03 5.14637232e+01] [ 6.27512473e-03 -1.35255248e-04 9.99980302e-01 6.87529613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.37, Y:51.49, Z:0.68 [[ 6.21506275e-01 -7.83399055e-01 -3.98378381e-03 1.07365094e+02] [ 7.83384048e-01 6.21519034e-01 -4.85013699e-03 5.14857275e+01] [ 6.27559021e-03 -1.06442114e-04 9.99980303e-01 6.83543641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:51.51, Z:0.68 [[ 6.22983036e-01 -7.82225249e-01 -3.97461021e-03 1.07384393e+02] [ 7.82210170e-01 6.22995709e-01 -4.85769006e-03 5.15064704e+01] [ 6.27597292e-03 -8.27220273e-05 9.99980302e-01 6.84980463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.40, Y:51.53, Z:0.69 [[ 6.23225737e-01 -7.82031859e-01 -3.98146753e-03 1.07400566e+02] [ 7.82016812e-01 6.23238448e-01 -4.85204711e-03 5.15265710e+01] [ 6.27585907e-03 -8.96539121e-05 9.99980303e-01 6.87697322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:51.55, Z:0.69 [[ 6.21722884e-01 -7.83227295e-01 -3.95721310e-03 1.07420415e+02] [ 7.83212145e-01 6.21735474e-01 -4.87199457e-03 5.15503947e+01] [ 6.27621889e-03 -7.03068432e-05 9.99980302e-01 6.88675785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.43, Y:51.57, Z:0.68 [[ 6.19637774e-01 -7.84877783e-01 -3.98695528e-03 1.07434214e+02] [ 7.84862823e-01 6.19650587e-01 -4.84753249e-03 5.15695366e+01] [ 6.27523974e-03 -1.25498737e-04 9.99980303e-01 6.83945756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.46, Y:51.59, Z:0.69 [[ 6.21898535e-01 -7.83087995e-01 -3.92489992e-03 1.07456339e+02] [ 7.83072674e-01 6.21910920e-01 -4.89845300e-03 5.15916375e+01] [ 6.27685786e-03 -2.71411384e-05 9.99980300e-01 6.88440797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:51.61, Z:0.69 [[ 6.22041409e-01 -7.82974296e-01 -3.96695988e-03 1.07475535e+02] [ 7.82959193e-01 6.22054053e-01 -4.86392812e-03 5.16146449e+01] [ 6.27599417e-03 -8.04030064e-05 9.99980303e-01 6.88661639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:51.64, Z:0.69 [[ 6.24016462e-01 -7.81401050e-01 -3.98162392e-03 1.07492701e+02] [ 7.81385991e-01 6.24029159e-01 -4.85189433e-03 5.16356512e+01] [ 6.27592475e-03 -8.35232167e-05 9.99980303e-01 6.87723464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:51.66, Z:0.69 [[ 6.26638293e-01 -7.79300205e-01 -3.95479487e-03 1.07511569e+02] [ 7.79284964e-01 6.26650772e-01 -4.87389675e-03 5.16568308e+01] [ 6.27650399e-03 -2.77418367e-05 9.99980302e-01 6.87146256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:51.68, Z:0.69 [[ 6.26985647e-01 -7.79020763e-01 -3.95596603e-03 1.07532357e+02] [ 7.79005523e-01 6.26998126e-01 -4.87293584e-03 5.16801372e+01] [ 6.27650149e-03 -2.64585599e-05 9.99980302e-01 6.87617014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.55, Y:51.70, Z:0.69 [[ 6.26768762e-01 -7.79195140e-01 -3.98144681e-03 1.07550442e+02] [ 7.79180036e-01 6.26781405e-01 -4.85202699e-03 5.17022631e+01] [ 6.27617267e-03 -6.11649200e-05 9.99980303e-01 6.87807564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:51.72, Z:0.69 [[ 6.26932570e-01 -7.79063355e-01 -3.98009578e-03 1.07569053e+02] [ 7.79048241e-01 6.26945202e-01 -4.85313497e-03 5.17238867e+01] [ 6.27620157e-03 -5.80982330e-05 9.99980303e-01 6.86793370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:51.74, Z:0.68 [[ 6.28916891e-01 -7.77462355e-01 -3.97871284e-03 1.07586311e+02] [ 7.77447202e-01 6.28929475e-01 -4.85426848e-03 5.17428123e+01] [ 6.27634078e-03 -4.03077225e-05 9.99980303e-01 6.84256466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.61, Y:51.76, Z:0.69 [[ 6.29268369e-01 -7.77177984e-01 -3.96240015e-03 1.07606415e+02] [ 7.77162741e-01 6.29280844e-01 -4.86763266e-03 5.17627010e+01] [ 6.27647945e-03 -1.63825005e-05 9.99980303e-01 6.88641798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:51.78, Z:0.69 [[ 6.30030355e-01 -7.76560425e-01 -3.95701073e-03 1.07626322e+02] [ 7.76545142e-01 6.30042781e-01 -4.87204599e-03 5.17831204e+01] [ 6.27652415e-03 -3.26059009e-06 9.99980302e-01 6.87491641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.65, Y:51.81, Z:0.69 [[ 6.28677104e-01 -7.77656313e-01 -3.96962057e-03 1.07645683e+02] [ 7.77641116e-01 6.28689635e-01 -4.86171965e-03 5.18050120e+01] [ 6.27640629e-03 -3.04883390e-05 9.99980303e-01 6.89066350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:51.82, Z:0.69 [[ 6.29940273e-01 -7.76633406e-01 -3.97566684e-03 1.07666595e+02] [ 7.76618220e-01 6.29952818e-01 -4.85677027e-03 5.18245216e+01] [ 6.27641257e-03 -2.81001160e-05 9.99980303e-01 6.86617323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:51.85, Z:0.69 [[ 6.29814084e-01 -7.76735806e-01 -3.96319683e-03 1.07686445e+02] [ 7.76720558e-01 6.29826554e-01 -4.86697413e-03 5.18456202e+01] [ 6.27647967e-03 -1.30075921e-05 9.99980303e-01 6.89498020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.481858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.71, Y:51.87, Z:0.69 [[ 6.30121546e-01 -7.76486344e-01 -3.97423548e-03 1.07705552e+02] [ 7.76471148e-01 6.30134078e-01 -4.85794352e-03 5.18662416e+01] [ 6.27642802e-03 -2.47843075e-05 9.99980303e-01 6.89873516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.511858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:107.72, Y:51.89, Z:0.69 [[ 6.30848302e-01 -7.75895988e-01 -3.97941601e-03 1.07723485e+02] [ 7.75880807e-01 6.30860852e-01 -4.85370632e-03 5.18862436e+01] [ 6.27642904e-03 -2.56001151e-05 9.99980303e-01 6.89461420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:51.90, Z:0.69 [[ 6.32709534e-01 -7.74379002e-01 -3.97571863e-03 1.07743164e+02] [ 7.74363772e-01 6.32722025e-01 -4.85672868e-03 5.19046475e+01] [ 6.27647345e-03 -5.75393120e-06 9.99980303e-01 6.88876631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.571858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:107.76, Y:51.93, Z:0.69 [[ 6.32273619e-01 -7.74735052e-01 -3.95858180e-03 1.07763396e+02] [ 7.74719741e-01 6.32286011e-01 -4.87072464e-03 5.19264991e+01] [ 6.27647700e-03 1.28392300e-05 9.99980303e-01 6.88855221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.78, Y:51.95, Z:0.69 [[ 6.32422349e-01 -7.74613573e-01 -3.97298380e-03 1.07782270e+02] [ 7.74598333e-01 6.32434829e-01 -4.85896541e-03 5.19463493e+01] [ 6.27647388e-03 -4.54831219e-06 9.99980303e-01 6.88639870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.631858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:107.80, Y:51.97, Z:0.69 [[ 6.32747367e-01 -7.74348127e-01 -3.96827264e-03 1.07801115e+02] [ 7.74332858e-01 6.32759810e-01 -4.86280993e-03 5.19656927e+01] [ 6.27647120e-03 4.16628298e-06 9.99980303e-01 6.89018567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:107.82, Y:51.98, Z:0.69 [[ 6.33592929e-01 -7.73656422e-01 -3.96735580e-03 1.07822496e+02] [ 7.73641135e-01 6.33605350e-01 -4.86355782e-03 5.19842492e+01] [ 6.27646060e-03 1.22062041e-05 9.99980303e-01 6.88930504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.691858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:107.84, Y:52.00, Z:0.68 [[ 6.31684610e-01 -7.75215341e-01 -3.96602315e-03 1.07838876e+02] [ 7.75200077e-01 6.31697060e-01 -4.86464430e-03 5.20049661e+01] [ 6.27647205e-03 -1.54051594e-06 9.99980303e-01 6.84790123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721858064 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:107.86, Y:52.03, Z:0.69 [[ 6.32908312e-01 -7.74216745e-01 -3.93705358e-03 1.07860569e+02] [ 7.74201315e-01 6.32920556e-01 -4.88821153e-03 5.20259097e+01] [ 6.27637736e-03 4.57176549e-05 9.99980302e-01 6.89390383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.751858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.88, Y:52.04, Z:0.69 [[ 6.33651908e-01 -7.73608130e-01 -3.96483134e-03 1.07880200e+02] [ 7.73592829e-01 6.33664312e-01 -4.86561821e-03 5.20447680e+01] [ 6.27645393e-03 1.59431703e-05 9.99980303e-01 6.88079451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:107.90, Y:52.07, Z:0.69 [[ 6.33686661e-01 -7.73579693e-01 -3.95914651e-03 1.07899517e+02] [ 7.73564362e-01 6.33699028e-01 -4.87023956e-03 5.20653560e+01] [ 6.27642572e-03 2.35511963e-05 9.99980303e-01 6.87697268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.811858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:107.92, Y:52.09, Z:0.68 [[ 6.31924298e-01 -7.75020011e-01 -3.95780613e-03 1.07916569e+02] [ 7.75004701e-01 6.31936692e-01 -4.87132858e-03 5.20861458e+01] [ 6.27646004e-03 1.09925350e-05 9.99980303e-01 6.82354197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:52.11, Z:0.68 [[ 6.31596821e-01 -7.75287044e-01 -3.93128116e-03 1.07939997e+02] [ 7.75271606e-01 6.31609054e-01 -4.89286453e-03 5.21077527e+01] [ 6.27640725e-03 4.25070287e-05 9.99980302e-01 6.84227978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.871858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:107.96, Y:52.13, Z:0.69 [[ 6.30764130e-01 -7.75964468e-01 -3.96934092e-03 1.07961521e+02] [ 7.75949237e-01 6.30776619e-01 -4.86194842e-03 5.21254299e+01] [ 6.27646667e-03 -1.32643942e-05 9.99980303e-01 6.87605386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:52.15, Z:0.69 [[ 6.28664869e-01 -7.77666296e-01 -3.95159514e-03 1.07982965e+02] [ 7.77651007e-01 6.28677288e-01 -4.87635217e-03 5.21481399e+01] [ 6.27645284e-03 -7.37064655e-06 9.99980303e-01 6.86698736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.931858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:108.00, Y:52.17, Z:0.69 [[ 6.27162711e-01 -7.78878076e-01 -3.98454652e-03 1.08000783e+02] [ 7.78862981e-01 6.27175365e-01 -4.84962850e-03 5.21675232e+01] [ 6.27627874e-03 -6.19096218e-05 9.99980302e-01 6.88877506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:52.19, Z:0.69 [[ 6.24905285e-01 -7.80690580e-01 -3.95003691e-03 1.08020019e+02] [ 7.80675344e-01 6.24917768e-01 -4.87758675e-03 5.21876061e+01] [ 6.27633428e-03 -3.56666821e-05 9.99980303e-01 6.88295107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:52.21, Z:0.69 [[ 6.23765718e-01 -7.81601320e-01 -3.96303970e-03 1.08038135e+02] [ 7.81586169e-01 6.23778304e-01 -4.86705556e-03 5.22096594e+01] [ 6.27615524e-03 -6.15546079e-05 9.99980303e-01 6.90113776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.06, Y:52.23, Z:0.69 [[ 6.24093353e-01 -7.81339763e-01 -3.95740165e-03 1.08055468e+02] [ 7.81324577e-01 6.24105898e-01 -4.87161755e-03 5.22312805e+01] [ 6.27622621e-03 -5.16710361e-05 9.99980303e-01 6.90429418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.051858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.07, Y:52.25, Z:0.69 [[ 6.24452576e-01 -7.81052755e-01 -3.94656767e-03 1.08072500e+02] [ 7.81037508e-01 6.24465046e-01 -4.88037856e-03 5.22517658e+01] [ 6.27632668e-03 -3.48524186e-05 9.99980303e-01 6.90064119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.081858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.09, Y:52.27, Z:0.69 [[ 6.23919259e-01 -7.81478847e-01 -3.94581625e-03 1.08090000e+02] [ 7.81463605e-01 6.23931735e-01 -4.88098601e-03 5.22731689e+01] [ 6.27630730e-03 -3.81706076e-05 9.99980303e-01 6.89048135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.111858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:108.11, Y:52.30, Z:0.69 [[ 6.24099686e-01 -7.81334768e-01 -3.94490556e-03 1.08107557e+02] [ 7.81319518e-01 6.24112153e-01 -4.88172194e-03 5.22951003e+01] [ 6.27632258e-03 -3.55505858e-05 9.99980303e-01 6.89039384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.12, Y:52.32, Z:0.69 [[ 6.24788836e-01 -7.80783816e-01 -3.94243765e-03 1.08124491e+02] [ 7.80768543e-01 6.24801274e-01 -4.88371513e-03 5.23170246e+01] [ 6.27636580e-03 -2.68406136e-05 9.99980303e-01 6.89418615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:52.34, Z:0.69 [[ 6.24677023e-01 -7.80873321e-01 -3.93363734e-03 1.08140667e+02] [ 7.80858005e-01 6.24689408e-01 -4.89081814e-03 5.23392113e+01] [ 6.27641099e-03 -1.64304899e-05 9.99980303e-01 6.87668046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.201858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:108.15, Y:52.36, Z:0.69 [[ 6.23979478e-01 -7.81430827e-01 -3.93368689e-03 1.08151244e+02] [ 7.81415522e-01 6.23991877e-01 -4.89077815e-03 5.23595073e+01] [ 6.27639348e-03 -2.20987933e-05 9.99980303e-01 6.85939805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:52.38, Z:0.69 [[ 6.24301846e-01 -7.81173645e-01 -3.86538603e-03 1.08170810e+02] [ 7.81157991e-01 6.24313809e-01 -4.94583742e-03 5.23836788e+01] [ 6.27677172e-03 6.82182489e-05 9.99980299e-01 6.85280620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.261858064 meters Centerline goodness : 0.995860 Centerline is valid? [True, True] Translation: X:108.19, Y:52.41, Z:0.69 [[ 6.25616222e-01 -7.80121223e-01 -3.90122059e-03 1.08189201e+02] [ 7.80105728e-01 6.25628385e-01 -4.91703162e-03 5.24063839e+01] [ 6.27659506e-03 3.28102227e-05 9.99980301e-01 6.87977167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:52.43, Z:0.69 [[ 6.24721958e-01 -7.80837491e-01 -3.91001381e-03 1.08207482e+02] [ 7.80822054e-01 6.24734194e-01 -4.90996237e-03 5.24298725e+01] [ 6.27660202e-03 1.43362929e-05 9.99980302e-01 6.89828956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321858064 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:108.22, Y:52.45, Z:0.69 [[ 6.25440083e-01 -7.80262287e-01 -3.93257476e-03 1.08224055e+02] [ 7.80246953e-01 6.25452447e-01 -4.89182546e-03 5.24510906e+01] [ 6.27654543e-03 -8.83575250e-06 9.99980302e-01 6.89306603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:52.47, Z:0.69 [[ 6.25746908e-01 -7.80016361e-01 -3.90944108e-03 1.08242194e+02] [ 7.80000905e-01 6.25759119e-01 -4.91041239e-03 5.24735142e+01] [ 6.27657041e-03 2.33077864e-05 9.99980302e-01 6.89810835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:52.50, Z:0.69 [[ 6.25194992e-01 -7.80458764e-01 -3.91660286e-03 1.08265292e+02] [ 7.80443353e-01 6.25207260e-01 -4.90464962e-03 5.24980951e+01] [ 6.27656532e-03 9.67570928e-06 9.99980302e-01 6.90299674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:52.52, Z:0.69 [[ 6.26091365e-01 -7.79739500e-01 -3.98941336e-03 1.08281001e+02] [ 7.79724444e-01 6.26104070e-01 -4.84611151e-03 5.25173618e+01] [ 6.27649251e-03 -7.65345453e-05 9.99980300e-01 6.92295153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:52.54, Z:0.69 [[ 6.22488973e-01 -7.82618592e-01 -3.95182798e-03 1.08295103e+02] [ 7.82603403e-01 6.22501515e-01 -4.87629806e-03 5.25405357e+01] [ 6.27630042e-03 -5.72722466e-05 9.99980302e-01 6.92414751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:52.56, Z:0.69 [[ 6.24861960e-01 -7.80725364e-01 -3.92888022e-03 1.08315772e+02] [ 7.80710021e-01 6.24874312e-01 -4.89471771e-03 5.25619575e+01] [ 6.27648659e-03 -8.79325190e-06 9.99980303e-01 6.92000615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.33, Y:52.58, Z:0.69 [[ 6.22049005e-01 -7.82968314e-01 -3.95672764e-03 1.08329571e+02] [ 7.82953156e-01 6.22061585e-01 -4.87233964e-03 5.25831483e+01] [ 6.27621581e-03 -6.70983728e-05 9.99980302e-01 6.91584714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.531858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:108.35, Y:52.61, Z:0.69 [[ 6.21992101e-01 -7.83013735e-01 -3.91366886e-03 1.08350453e+02] [ 7.82998360e-01 6.22004414e-01 -4.90689992e-03 5.26064634e+01] [ 6.27648934e-03 -1.23433108e-05 9.99980303e-01 6.91292411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.37, Y:52.63, Z:0.69 [[ 6.21148318e-01 -7.83683108e-01 -3.94374577e-03 1.08370660e+02] [ 7.83667898e-01 6.21160835e-01 -4.88280090e-03 5.26303237e+01] [ 6.27626900e-03 -5.76433915e-05 9.99980302e-01 6.90630400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:52.65, Z:0.69 [[ 6.18160054e-01 -7.86042168e-01 -3.98227722e-03 1.08382736e+02] [ 7.86027204e-01 6.18172867e-01 -4.85192499e-03 5.26505629e+01] [ 6.27555336e-03 -1.30912021e-04 9.99980300e-01 6.91699499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621858064 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:108.40, Y:52.67, Z:0.69 [[ 6.18553987e-01 -7.85732514e-01 -3.92204948e-03 1.08399936e+02] [ 7.85717236e-01 6.18566419e-01 -4.90013111e-03 5.26704981e+01] [ 6.27624043e-03 -5.06262413e-05 9.99980303e-01 6.91996311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.651858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.42, Y:52.70, Z:0.69 [[ 6.16612731e-01 -7.87257023e-01 -3.88850422e-03 1.08422889e+02] [ 7.87241605e-01 6.16624991e-01 -4.92699325e-03 5.26970741e+01] [ 6.27655892e-03 -2.31455415e-05 9.99980302e-01 6.91927563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:52.71, Z:0.69 [[ 6.15489190e-01 -7.88135280e-01 -3.97976331e-03 1.08434789e+02] [ 7.88120346e-01 6.15502038e-01 -4.85399976e-03 5.27148306e+01] [ 6.27516089e-03 -1.48948057e-04 9.99980300e-01 6.93447397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.711858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:108.46, Y:52.74, Z:0.69 [[ 6.13503944e-01 -7.89682114e-01 -3.88194734e-03 1.08455659e+02] [ 7.89666713e-01 6.13516224e-01 -4.93202843e-03 5.27386033e+01] [ 6.27637231e-03 -3.96257037e-05 9.99980303e-01 6.91052189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.48, Y:52.76, Z:0.69 [[ 6.11563671e-01 -7.91185486e-01 -3.92459903e-03 1.08476637e+02] [ 7.91170332e-01 6.11576254e-01 -4.89803541e-03 5.27632883e+01] [ 6.27544610e-03 -1.09565803e-04 9.99980303e-01 6.91873358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:52.78, Z:0.69 [[ 6.10155843e-01 -7.92271455e-01 -3.97348425e-03 1.08490523e+02] [ 7.92256576e-01 6.10168754e-01 -4.85907363e-03 5.27831615e+01] [ 6.27420127e-03 -1.83226862e-04 9.99980300e-01 6.91467917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.51, Y:52.81, Z:0.69 [[ 6.05708182e-01 -7.95677196e-01 -3.92403591e-03 1.08505634e+02] [ 7.95662133e-01 6.05720872e-01 -4.89845545e-03 5.28051556e+01] [ 6.27445975e-03 -1.55172236e-04 9.99980303e-01 6.91135523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.831858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.52, Y:52.83, Z:0.69 [[ 6.04058311e-01 -7.96930532e-01 -3.90948298e-03 1.08522425e+02] [ 7.96915420e-01 6.04070943e-01 -4.91004025e-03 5.28258792e+01] [ 6.27456606e-03 -1.49576648e-04 9.99980304e-01 6.94137161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.54, Y:52.85, Z:0.69 [[ 6.03940347e-01 -7.97019941e-01 -3.90781231e-03 1.08542719e+02] [ 7.97004822e-01 6.03952972e-01 -4.91136955e-03 5.28495170e+01] [ 6.27459432e-03 -1.48371030e-04 9.99980304e-01 6.94533172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.891858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.56, Y:52.87, Z:0.70 [[ 6.03695387e-01 -7.97205325e-01 -3.94341294e-03 1.08559793e+02] [ 7.97190394e-01 6.03708234e-01 -4.88303862e-03 5.28715659e+01] [ 6.27345525e-03 -1.95783028e-04 9.99980303e-01 6.95463460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.921858064 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:108.57, Y:52.89, Z:0.70 [[ 6.04220666e-01 -7.96807238e-01 -3.95119270e-03 1.08573412e+02] [ 7.96792339e-01 6.04233551e-01 -4.87682641e-03 5.28910114e+01] [ 6.27333378e-03 -2.01600770e-04 9.99980302e-01 6.97168432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.951858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.59, Y:52.92, Z:0.70 [[ 6.04572969e-01 -7.96540225e-01 -3.89810821e-03 1.08594928e+02] [ 7.96525046e-01 6.04585522e-01 -4.91915982e-03 5.29189493e+01] [ 6.27504846e-03 -1.30949765e-04 9.99980303e-01 6.97112624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:52.94, Z:0.70 [[ 6.03648949e-01 -7.97240298e-01 -3.98164951e-03 1.08604507e+02] [ 7.97225566e-01 6.03662030e-01 -4.85277267e-03 5.29389784e+01] [ 6.27239656e-03 -2.44901671e-04 9.99980298e-01 6.98323385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:52.97, Z:0.70 [[ 6.06284469e-01 -7.95238313e-01 -3.89464199e-03 1.08626732e+02] [ 7.95223090e-01 6.06296968e-01 -4.92179836e-03 5.29657829e+01] [ 6.27531226e-03 -1.13099335e-04 9.99980304e-01 6.97436238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.041858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.64, Y:52.99, Z:0.70 [[ 6.07405694e-01 -7.94381849e-01 -3.97493576e-03 1.08642276e+02] [ 7.94367020e-01 6.07418665e-01 -4.85828162e-03 5.29863129e+01] [ 6.27378091e-03 -2.06609953e-04 9.99980298e-01 6.99727310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:53.01, Z:0.70 [[ 6.07818312e-01 -7.94066212e-01 -3.96876055e-03 1.08658695e+02] [ 7.94051344e-01 6.07831237e-01 -4.86317529e-03 5.30083279e+01] [ 6.27401982e-03 -1.95472650e-04 9.99980299e-01 7.00973741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:108.67, Y:53.03, Z:0.70 [[ 6.04816145e-01 -7.96355325e-01 -3.95320988e-03 1.08668832e+02] [ 7.96340425e-01 6.04829031e-01 -4.87546880e-03 5.30316835e+01] [ 6.27362164e-03 -1.99338592e-04 9.99980301e-01 7.00107571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.131858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:108.69, Y:53.05, Z:0.70 [[ 6.04592346e-01 -7.96525563e-01 -3.88873161e-03 1.08686463e+02] [ 7.96510338e-01 6.04604840e-01 -4.92636611e-03 5.30541931e+01] [ 6.27512249e-03 -1.18971683e-04 9.99980304e-01 7.00255154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.71, Y:53.08, Z:0.70 [[ 6.07200352e-01 -7.94539251e-01 -3.88734701e-03 1.08707316e+02] [ 7.94523977e-01 6.07212788e-01 -4.92745844e-03 5.30788870e+01] [ 6.27550595e-03 -9.66359033e-05 9.99980304e-01 6.99433798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.191858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:108.73, Y:53.10, Z:0.70 [[ 6.08056803e-01 -7.93883707e-01 -3.94768743e-03 1.08725308e+02] [ 7.93868727e-01 6.08069595e-01 -4.87978368e-03 5.31010190e+01] [ 6.27444945e-03 -1.66759932e-04 9.99980302e-01 6.98892436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:108.74, Y:53.12, Z:0.70 [[ 6.05731908e-01 -7.95658989e-01 -3.95327389e-03 1.08737737e+02] [ 7.95644075e-01 6.05744778e-01 -4.87538043e-03 5.31240982e+01] [ 6.27381528e-03 -1.92225457e-04 9.99980301e-01 6.99474277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.251858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:108.75, Y:53.15, Z:0.70 [[ 6.06189024e-01 -7.95311023e-01 -3.90430387e-03 1.08751234e+02] [ 7.95295852e-01 6.06201584e-01 -4.91390927e-03 5.31463065e+01] [ 6.27488140e-03 -1.26318808e-04 9.99980305e-01 7.01650760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.77, Y:53.17, Z:0.70 [[ 6.08266389e-01 -7.93723473e-01 -3.87937268e-03 1.08774369e+02] [ 7.93708144e-01 6.08278754e-01 -4.93351344e-03 5.31709205e+01] [ 6.27558540e-03 -7.81992863e-05 9.99980305e-01 7.01030497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.79, Y:53.19, Z:0.70 [[ 6.06606879e-01 -7.94992155e-01 -3.94559117e-03 1.08786164e+02] [ 7.94977189e-01 6.06619685e-01 -4.88129338e-03 5.31915676e+01] [ 6.27406322e-03 -1.75628838e-04 9.99980302e-01 7.01304038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.80, Y:53.21, Z:0.70 [[ 6.07844179e-01 -7.94046748e-01 -3.90072648e-03 1.08801088e+02] [ 7.94031534e-01 6.07856685e-01 -4.91664174e-03 5.32129588e+01] [ 6.27512606e-03 -1.08747769e-04 9.99980305e-01 7.00611056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.371858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.82, Y:53.24, Z:0.70 [[ 6.07428626e-01 -7.94364823e-01 -3.87188884e-03 1.08818340e+02] [ 7.94349470e-01 6.07440961e-01 -4.93935024e-03 5.32365390e+01] [ 6.27558996e-03 -7.53301195e-05 9.99980305e-01 7.01422573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:108.83, Y:53.26, Z:0.70 [[ 6.07215292e-01 -7.94527858e-01 -3.88236637e-03 1.08834130e+02] [ 7.94512561e-01 6.07227696e-01 -4.93110105e-03 5.32579482e+01] [ 6.27537754e-03 -9.03488900e-05 9.99980306e-01 7.01465931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.431858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:108.85, Y:53.28, Z:0.70 [[ 6.07037524e-01 -7.94663688e-01 -3.88161052e-03 1.08851106e+02] [ 7.94648390e-01 6.07049927e-01 -4.93169596e-03 5.32802480e+01] [ 6.27537108e-03 -9.07910439e-05 9.99980306e-01 7.01650072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.87, Y:53.30, Z:0.70 [[ 6.07279053e-01 -7.94479134e-01 -3.88027775e-03 1.08866975e+02] [ 7.94463826e-01 6.07291444e-01 -4.93274436e-03 5.33019851e+01] [ 6.27542195e-03 -8.71879785e-05 9.99980306e-01 7.01967810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:53.32, Z:0.70 [[ 6.07243539e-01 -7.94506285e-01 -3.87908721e-03 1.08883766e+02] [ 7.94490971e-01 6.07255923e-01 -4.93368042e-03 5.33249333e+01] [ 6.27543879e-03 -8.59542071e-05 9.99980306e-01 7.01844529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52185806399999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:108.90, Y:53.35, Z:0.70 [[ 6.07112125e-01 -7.94606715e-01 -3.87773181e-03 1.08900819e+02] [ 7.94591396e-01 6.07124503e-01 -4.93474550e-03 5.33477305e+01] [ 6.27544790e-03 -8.52685099e-05 9.99980306e-01 7.02227502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.92, Y:53.37, Z:0.70 [[ 6.06894315e-01 -7.94773090e-01 -3.87633822e-03 1.08916981e+02] [ 7.94757768e-01 6.06906688e-01 -4.93583995e-03 5.33688770e+01] [ 6.27544836e-03 -8.52167053e-05 9.99980306e-01 7.02473068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.94, Y:53.39, Z:0.70 [[ 6.07799294e-01 -7.94081230e-01 -3.87539299e-03 1.08938804e+02] [ 7.94065889e-01 6.07811644e-01 -4.93658199e-03 5.33931359e+01] [ 6.27555608e-03 -7.68663326e-05 9.99980306e-01 7.01622481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.611858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:108.96, Y:53.42, Z:0.70 [[ 6.07977130e-01 -7.93944807e-01 -3.93088245e-03 1.08956879e+02] [ 7.93929743e-01 6.07989820e-01 -4.89300668e-03 5.34157169e+01] [ 6.27471376e-03 -1.46008330e-04 9.99980303e-01 7.02120154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.641858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:108.97, Y:53.44, Z:0.70 [[ 6.06896253e-01 -7.94771288e-01 -3.94174043e-03 1.08974940e+02] [ 7.94756297e-01 6.06909030e-01 -4.88448732e-03 5.34391421e+01] [ 6.27432814e-03 -1.68345971e-04 9.99980302e-01 7.00320451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.671858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.99, Y:53.46, Z:0.70 [[ 6.04627340e-01 -7.96498746e-01 -3.94050551e-03 1.08990856e+02] [ 7.96483784e-01 6.04640152e-01 -4.88545508e-03 5.34616836e+01] [ 6.27384669e-03 -1.84669028e-04 9.99980302e-01 7.01103832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.00, Y:53.48, Z:0.70 [[ 6.00412547e-01 -7.99680800e-01 -3.92320134e-03 1.09002334e+02] [ 7.99665818e-01 6.00425333e-01 -4.89900041e-03 5.34817909e+01] [ 6.27322603e-03 -1.95828696e-04 9.99980304e-01 7.01744808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.731858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.02, Y:53.51, Z:0.70 [[ 6.00422470e-01 -7.99673630e-01 -3.86563452e-03 1.09024813e+02] [ 7.99658356e-01 6.00434901e-01 -4.94401091e-03 5.35057386e+01] [ 6.27465703e-03 -1.22691702e-04 9.99980307e-01 7.01823061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.04, Y:53.53, Z:0.70 [[ 5.98419223e-01 -8.01173533e-01 -3.92473123e-03 1.09037582e+02] [ 8.01158591e-01 5.98432055e-01 -4.89767778e-03 5.35259881e+01] [ 6.27257479e-03 -2.13467607e-04 9.99980304e-01 7.02378168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.05, Y:53.55, Z:0.70 [[ 5.96843672e-01 -8.02348218e-01 -3.86882893e-03 1.09054925e+02] [ 8.02333016e-01 5.96856191e-01 -4.94144565e-03 5.35503744e+01] [ 6.27389461e-03 -1.54818617e-04 9.99980307e-01 7.04267256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:109.07, Y:53.57, Z:0.70 [[ 5.96697214e-01 -8.02457036e-01 -3.89092831e-03 1.09069484e+02] [ 8.02441949e-01 5.96709872e-01 -4.92416498e-03 5.35724352e+01] [ 6.27318616e-03 -1.84008571e-04 9.99980306e-01 7.03533416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.851858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.09, Y:53.60, Z:0.70 [[ 5.96391535e-01 -8.02684376e-01 -3.86387247e-03 1.09088284e+02] [ 8.02669156e-01 5.96404032e-01 -4.94530428e-03 5.35974024e+01] [ 6.27394761e-03 -1.52073643e-04 9.99980307e-01 7.04219350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.10, Y:53.62, Z:0.70 [[ 5.96859802e-01 -8.02336114e-01 -3.89056698e-03 1.09102984e+02] [ 8.02321023e-01 5.96872454e-01 -4.92442429e-03 5.36183241e+01] [ 6.27321571e-03 -1.82292771e-04 9.99980307e-01 7.02258548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.12, Y:53.64, Z:0.70 [[ 5.96646231e-01 -8.02495080e-01 -3.86283899e-03 1.09119669e+02] [ 8.02479851e-01 5.96658717e-01 -4.94609746e-03 5.36422864e+01] [ 6.27401544e-03 -1.48780052e-04 9.99980307e-01 7.04467506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.14, Y:53.67, Z:0.70 [[ 5.96926405e-01 -8.02286691e-01 -3.86425836e-03 1.09139215e+02] [ 8.02271465e-01 5.96938894e-01 -4.94498830e-03 5.36661368e+01] [ 6.27402441e-03 -1.48390125e-04 9.99980307e-01 7.03588115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.15, Y:53.69, Z:0.70 [[ 5.95362096e-01 -8.03448081e-01 -3.89308868e-03 1.09153547e+02] [ 8.03433026e-01 5.95374792e-01 -4.92247688e-03 5.36897757e+01] [ 6.27280146e-03 -1.97179862e-04 9.99980306e-01 7.04624248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.17, Y:53.71, Z:0.70 [[ 5.97108533e-01 -8.02151127e-01 -3.86899441e-03 1.09171547e+02] [ 8.02135923e-01 5.97121048e-01 -4.94127782e-03 5.37132964e+01] [ 6.27390957e-03 -1.52980250e-04 9.99980307e-01 7.04082478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.18, Y:53.73, Z:0.70 [[ 5.97508525e-01 -8.01852994e-01 -3.91646038e-03 1.09183075e+02] [ 8.01838024e-01 5.97521323e-01 -4.90413988e-03 5.37337580e+01] [ 6.27256783e-03 -2.10101466e-04 9.99980305e-01 7.03508146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.20, Y:53.76, Z:0.71 [[ 5.97189276e-01 -8.02091037e-01 -3.86474668e-03 1.09199202e+02] [ 8.02075810e-01 5.97201763e-01 -4.94456014e-03 5.37579230e+01] [ 6.27402091e-03 -1.46981536e-04 9.99980307e-01 7.05199864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.091858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.21, Y:53.78, Z:0.71 [[ 5.98027131e-01 -8.01466474e-01 -3.87826786e-03 1.09214608e+02] [ 8.01451302e-01 5.98039686e-01 -4.93399461e-03 5.37808675e+01] [ 6.27378936e-03 -1.57580183e-04 9.99980307e-01 7.05160542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.23, Y:53.81, Z:0.71 [[ 5.99110393e-01 -8.00657114e-01 -3.86300573e-03 1.09230054e+02] [ 8.00641848e-01 5.99122833e-01 -4.94591510e-03 5.38053609e+01] [ 6.27439705e-03 -1.29734912e-04 9.99980307e-01 7.06746659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.151858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:109.25, Y:53.83, Z:0.71 [[ 5.99538919e-01 -8.00336286e-01 -3.86182712e-03 1.09246292e+02] [ 8.00321007e-01 5.99551344e-01 -4.94683520e-03 5.38287367e+01] [ 6.27449535e-03 -1.24881143e-04 9.99980307e-01 7.07263096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.26, Y:53.85, Z:0.71 [[ 6.00189025e-01 -7.99848880e-01 -3.86048397e-03 1.09262405e+02] [ 7.99833585e-01 6.00201429e-01 -4.94788317e-03 5.38520493e+01] [ 6.27462680e-03 -1.18079555e-04 9.99980307e-01 7.07490110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.28, Y:53.88, Z:0.71 [[ 6.00681717e-01 -7.99478944e-01 -3.85914478e-03 1.09278373e+02] [ 7.99463634e-01 6.00694103e-01 -4.94892746e-03 5.38755820e+01] [ 6.27472881e-03 -1.12515672e-04 9.99980307e-01 7.07479526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.29, Y:53.90, Z:0.71 [[ 6.02675550e-01 -7.97977004e-01 -3.85781189e-03 1.09293822e+02] [ 7.97961657e-01 6.02687889e-01 -4.94996626e-03 5.38991259e+01] [ 6.27501575e-03 -9.51623307e-05 9.99980307e-01 7.08648352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:109.31, Y:53.92, Z:0.71 [[ 6.03454125e-01 -7.97388392e-01 -3.85643110e-03 1.09309481e+02] [ 7.97373026e-01 6.03466441e-01 -4.95104178e-03 5.39221629e+01] [ 6.27512999e-03 -8.72875514e-05 9.99980307e-01 7.09273305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.32, Y:53.95, Z:0.71 [[ 6.05216449e-01 -7.96051624e-01 -3.85504598e-03 1.09323070e+02] [ 7.96036224e-01 6.05228722e-01 -4.95212004e-03 5.39464126e+01] [ 6.27532776e-03 -7.16517414e-05 9.99980307e-01 7.08990994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.34, Y:53.97, Z:0.71 [[ 6.05945513e-01 -7.95496813e-01 -3.85426990e-03 1.09339045e+02] [ 7.95481398e-01 6.05957767e-01 -4.95272400e-03 5.39698020e+01] [ 6.27540094e-03 -6.49191252e-05 9.99980307e-01 7.08862851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.361858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:109.35, Y:53.99, Z:0.71 [[ 6.07532708e-01 -7.94285316e-01 -3.85289996e-03 1.09354904e+02] [ 7.94269870e-01 6.07544923e-01 -4.95378950e-03 5.39912451e+01] [ 6.27553207e-03 -5.06532015e-05 9.99980307e-01 7.07031506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.37, Y:54.02, Z:0.71 [[ 6.07058671e-01 -7.94647777e-01 -3.83145060e-03 1.09371819e+02] [ 7.94632232e-01 6.07070762e-01 -4.97045967e-03 5.40150184e+01] [ 6.27572636e-03 -2.72335028e-05 9.99980307e-01 7.07788665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.39, Y:54.04, Z:0.70 [[ 6.08733643e-01 -7.93365314e-01 -3.85096203e-03 1.09385569e+02] [ 7.93349840e-01 6.08745822e-01 -4.95529655e-03 5.40365264e+01] [ 6.27561745e-03 -3.87043874e-05 9.99980307e-01 7.03621756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.451858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.40, Y:54.06, Z:0.71 [[ 6.08311005e-01 -7.93689558e-01 -3.82188477e-03 1.09403724e+02] [ 7.93673948e-01 6.08323010e-01 -4.97787637e-03 5.40602911e+01] [ 6.27582894e-03 -5.23339730e-06 9.99980307e-01 7.06131529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.42, Y:54.08, Z:0.71 [[ 6.08218385e-01 -7.93760405e-01 -3.84912585e-03 1.09419641e+02] [ 7.93744929e-01 6.08230563e-01 -4.95672240e-03 5.40835066e+01] [ 6.27560597e-03 -4.04544349e-05 9.99980307e-01 7.06414241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.511858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.43, Y:54.11, Z:0.70 [[ 6.06124394e-01 -7.95360564e-01 -3.84607181e-03 1.09430335e+02] [ 7.95345106e-01 6.06136594e-01 -4.95909282e-03 5.41057531e+01] [ 6.27551173e-03 -5.31272599e-05 9.99980307e-01 7.04014191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.541858064 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:109.45, Y:54.13, Z:0.71 [[ 6.09331382e-01 -7.92906640e-01 -3.78507518e-03 1.09453747e+02] [ 7.92890836e-01 6.09343136e-01 -5.00637785e-03 5.41283703e+01] [ 6.27599982e-03 4.93917169e-05 9.99980305e-01 7.08961451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.47, Y:54.15, Z:0.71 [[ 6.09711249e-01 -7.92614282e-01 -3.84616745e-03 1.09473187e+02] [ 7.92598769e-01 6.09723380e-01 -4.95899507e-03 5.41517289e+01] [ 6.27566853e-03 -2.49125127e-05 9.99980307e-01 7.08923522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.49, Y:54.17, Z:0.71 [[ 6.08901503e-01 -7.93236421e-01 -3.86518290e-03 1.09488747e+02] [ 7.93221014e-01 6.08913768e-01 -4.94424809e-03 5.41722245e+01] [ 6.27552074e-03 -5.53842053e-05 9.99980307e-01 7.09255785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.631858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:109.51, Y:54.19, Z:0.71 [[ 6.08167990e-01 -7.93799039e-01 -3.84462953e-03 1.09506266e+02] [ 7.93783543e-01 6.08180141e-01 -4.96017898e-03 5.41943138e+01] [ 6.27561264e-03 -3.51815621e-05 9.99980308e-01 7.09069783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.52, Y:54.22, Z:0.71 [[ 6.07745962e-01 -7.94122204e-01 -3.84319787e-03 1.09523120e+02] [ 7.94106707e-01 6.07758113e-01 -4.96128800e-03 5.42150941e+01] [ 6.27560365e-03 -3.67064524e-05 9.99980308e-01 7.08907587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.54, Y:54.24, Z:0.71 [[ 6.06643081e-01 -7.94965036e-01 -3.84241423e-03 1.09541427e+02] [ 7.94949552e-01 6.06655248e-01 -4.96189484e-03 5.42366545e+01] [ 6.27555366e-03 -4.44262897e-05 9.99980308e-01 7.09032848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.56, Y:54.26, Z:0.70 [[ 6.04898411e-01 -7.96293387e-01 -3.84101022e-03 1.09555563e+02] [ 7.96277923e-01 6.04910603e-01 -4.96298144e-03 5.42589658e+01] [ 6.27545712e-03 -5.64120537e-05 9.99980308e-01 7.03503762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.58, Y:54.28, Z:0.71 [[ 6.04964980e-01 -7.96242972e-01 -3.80828360e-03 1.09575224e+02] [ 7.96227346e-01 6.04976966e-01 -4.98832303e-03 5.42813114e+01] [ 6.27584101e-03 -1.44988006e-05 9.99980307e-01 7.05553381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:109.59, Y:54.30, Z:0.70 [[ 6.04597638e-01 -7.96521862e-01 -3.82357802e-03 1.09591576e+02] [ 7.96506317e-01 6.04609727e-01 -4.97648289e-03 5.43014046e+01] [ 6.27564988e-03 -3.67342416e-05 9.99980307e-01 7.04541532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:54.32, Z:0.71 [[ 6.04648408e-01 -7.96483411e-01 -3.80513925e-03 1.09615599e+02] [ 7.96467775e-01 6.04660381e-01 -4.99072611e-03 5.43238662e+01] [ 6.27584750e-03 -1.30361886e-05 9.99980307e-01 7.08261155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.63, Y:54.34, Z:0.70 [[ 6.01948115e-01 -7.98525832e-01 -3.86807665e-03 1.09628317e+02] [ 7.98510547e-01 6.01960532e-01 -4.94208854e-03 5.43442820e+01] [ 6.27481484e-03 -1.13819116e-04 9.99980307e-01 7.03853578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.871858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:109.65, Y:54.37, Z:0.71 [[ 6.02502690e-01 -7.98107775e-01 -3.80634947e-03 1.09650177e+02] [ 7.98092177e-01 6.02514712e-01 -4.98977310e-03 5.43659791e+01] [ 6.27575826e-03 -3.14660215e-05 9.99980307e-01 7.08815011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.67, Y:54.38, Z:0.71 [[ 6.01790984e-01 -7.98644410e-01 -3.83641988e-03 1.09669038e+02] [ 7.98628970e-01 6.01803208e-01 -4.96654514e-03 5.43849947e+01] [ 6.27527330e-03 -7.50539702e-05 9.99980307e-01 7.07981691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.69, Y:54.41, Z:0.71 [[ 6.00899104e-01 -7.99315746e-01 -3.82165219e-03 1.09687760e+02] [ 7.99300248e-01 6.00911253e-01 -4.97794859e-03 5.44066979e+01] [ 6.27542650e-03 -6.34027031e-05 9.99980307e-01 7.09240537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.70, Y:54.43, Z:0.70 [[ 5.99109472e-01 -8.00657947e-01 -3.83300887e-03 1.09702096e+02] [ 8.00642532e-01 5.99121727e-01 -4.96918059e-03 5.44273079e+01] [ 6.27505282e-03 -9.17867683e-05 9.99980307e-01 7.04073352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.72, Y:54.45, Z:0.71 [[ 5.98858359e-01 -8.00845905e-01 -3.80810493e-03 1.09720179e+02] [ 8.00830371e-01 5.98870464e-01 -4.98844724e-03 5.44486629e+01] [ 6.27553911e-03 -6.22727508e-05 9.99980307e-01 7.05277972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:54.47, Z:0.71 [[ 5.98725289e-01 -8.00945406e-01 -3.80590991e-03 1.09737643e+02] [ 8.00929863e-01 5.98737383e-01 -4.99014484e-03 5.44712380e+01] [ 6.27557413e-03 -6.05409883e-05 9.99980307e-01 7.05456137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.76, Y:54.49, Z:0.71 [[ 6.00814098e-01 -7.99379725e-01 -3.80446134e-03 1.09760767e+02] [ 7.99364144e-01 6.00826142e-01 -4.99126460e-03 5.44913411e+01] [ 6.27573555e-03 -4.23278468e-05 9.99980306e-01 7.09438543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.78, Y:54.51, Z:0.71 [[ 6.00447513e-01 -7.99654956e-01 -3.83873282e-03 1.09779092e+02] [ 7.99639548e-01 6.00459777e-01 -4.96476606e-03 5.45124109e+01] [ 6.27510444e-03 -8.85211446e-05 9.99980307e-01 7.10368133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.111858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:109.80, Y:54.53, Z:0.71 [[ 6.00144460e-01 -7.99882430e-01 -3.83735042e-03 1.09797636e+02] [ 7.99867020e-01 6.00156721e-01 -4.96583431e-03 5.45339649e+01] [ 6.27509527e-03 -8.91520974e-05 9.99980307e-01 7.10902456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.82, Y:54.55, Z:0.71 [[ 6.00045087e-01 -7.99956986e-01 -3.83596555e-03 1.09817227e+02] [ 7.99941571e-01 6.00057341e-01 -4.96690386e-03 5.45542939e+01] [ 6.27510873e-03 -8.81820484e-05 9.99980307e-01 7.11818466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.84, Y:54.57, Z:0.71 [[ 6.00179842e-01 -7.99855895e-01 -3.83456887e-03 1.09835691e+02] [ 7.99840471e-01 6.00192085e-01 -4.96798189e-03 5.45744286e+01] [ 6.27514749e-03 -8.53607867e-05 9.99980307e-01 7.10967680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.201858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:109.86, Y:54.60, Z:0.71 [[ 5.99808618e-01 -8.00134316e-01 -3.83382091e-03 1.09855640e+02] [ 8.00118894e-01 5.99820864e-01 -4.96855903e-03 5.45965137e+01] [ 6.27512035e-03 -8.73280203e-05 9.99980307e-01 7.11036898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.231858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:109.88, Y:54.61, Z:0.71 [[ 5.99795317e-01 -8.00144237e-01 -3.84425544e-03 1.09875472e+02] [ 8.00128866e-01 5.99807628e-01 -4.96050873e-03 5.46148991e+01] [ 6.27493621e-03 -1.00609840e-04 9.99980307e-01 7.12299893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.90, Y:54.64, Z:0.71 [[ 5.99387347e-01 -8.00449949e-01 -3.83231813e-03 1.09895081e+02] [ 8.00434527e-01 5.99399592e-01 -4.96971401e-03 5.46364236e+01] [ 6.27509725e-03 -8.87360554e-05 9.99980307e-01 7.10034139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.91, Y:54.66, Z:0.71 [[ 6.00032496e-01 -7.99966449e-01 -3.83201717e-03 1.09914673e+02] [ 7.99951015e-01 6.00044726e-01 -4.96994602e-03 5.46576108e+01] [ 6.27517176e-03 -8.32969080e-05 9.99980307e-01 7.13624335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.94, Y:54.68, Z:0.71 [[ 6.01891447e-01 -7.98568729e-01 -3.83030163e-03 1.09938750e+02] [ 7.98553258e-01 6.01903631e-01 -4.97126782e-03 5.46796792e+01] [ 6.27537148e-03 -6.65362669e-05 9.99980307e-01 7.12264847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.95, Y:54.70, Z:0.71 [[ 6.01486735e-01 -7.98873341e-01 -3.88507823e-03 1.09954135e+02] [ 7.98858146e-01 6.01499265e-01 -4.92904161e-03 5.46978252e+01] [ 6.27455164e-03 -1.38873244e-04 9.99980305e-01 7.14898715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:54.72, Z:0.71 [[ 6.02381346e-01 -7.98199260e-01 -3.82824589e-03 1.09972845e+02] [ 7.98183772e-01 6.02393508e-01 -4.97279333e-03 5.47185022e+01] [ 6.27539043e-03 -6.01258078e-05 9.99980308e-01 7.14211726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.411858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.99, Y:54.74, Z:0.72 [[ 6.02069209e-01 -7.98434782e-01 -3.81674110e-03 1.09992610e+02] [ 7.98419242e-01 6.02081305e-01 -4.98164662e-03 5.47402679e+01] [ 6.27550839e-03 -4.80634907e-05 9.99980308e-01 7.16585570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:110.01, Y:54.76, Z:0.72 [[ 6.02336275e-01 -7.98233279e-01 -3.82691384e-03 1.10010833e+02] [ 7.98217784e-01 6.02348429e-01 -4.97381960e-03 5.47598936e+01] [ 6.27540386e-03 -5.87987168e-05 9.99980308e-01 7.15577579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.471858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.03, Y:54.78, Z:0.72 [[ 6.02206609e-01 -7.98331113e-01 -3.82539751e-03 1.10031768e+02] [ 7.98315614e-01 6.02218756e-01 -4.97498554e-03 5.47789462e+01] [ 6.27541188e-03 -5.79053876e-05 9.99980308e-01 7.17188189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.05, Y:54.80, Z:0.72 [[ 6.02158584e-01 -7.98367345e-01 -3.82385012e-03 1.10050854e+02] [ 7.98351839e-01 6.02170723e-01 -4.97617461e-03 5.47997744e+01] [ 6.27542590e-03 -5.63315113e-05 9.99980308e-01 7.15227663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:54.82, Z:0.72 [[ 6.02248917e-01 -7.98299179e-01 -3.82909999e-03 1.10069300e+02] [ 7.98283697e-01 6.02261086e-01 -4.97214191e-03 5.48202572e+01] [ 6.27537473e-03 -6.22410130e-05 9.99980308e-01 7.17236571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.09, Y:54.84, Z:0.72 [[ 6.02039801e-01 -7.98456931e-01 -3.82198731e-03 1.10089528e+02] [ 7.98441417e-01 6.02051930e-01 -4.97760329e-03 5.48399480e+01] [ 6.27543668e-03 -5.49176669e-05 9.99980308e-01 7.17170073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.591858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.11, Y:54.86, Z:0.72 [[ 6.02172799e-01 -7.98356639e-01 -3.82059427e-03 1.10108422e+02] [ 7.98341117e-01 6.02184917e-01 -4.97867230e-03 5.48619517e+01] [ 6.27546033e-03 -5.21164552e-05 9.99980308e-01 7.15719205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:110.12, Y:54.88, Z:0.72 [[ 6.00261263e-01 -7.99794856e-01 -3.82151261e-03 1.10124595e+02] [ 7.99779367e-01 6.00273424e-01 -4.97796776e-03 5.48841357e+01] [ 6.27530546e-03 -6.82857220e-05 9.99980308e-01 7.15230596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:54.90, Z:0.72 [[ 6.02205171e-01 -7.98332301e-01 -3.80370693e-03 1.10145088e+02] [ 7.98316697e-01 6.02217183e-01 -4.99162291e-03 5.49048343e+01] [ 6.27563148e-03 -3.05816234e-05 9.99980308e-01 7.18528360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.16, Y:54.93, Z:0.72 [[ 6.00704285e-01 -7.99462181e-01 -3.81884307e-03 1.10162967e+02] [ 7.99446672e-01 6.00716420e-01 -4.98001601e-03 5.49260005e+01] [ 6.27537620e-03 -6.14444329e-05 9.99980308e-01 7.18604669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.711858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:110.18, Y:54.95, Z:0.72 [[ 5.99380127e-01 -8.00455468e-01 -3.80877885e-03 1.10177678e+02] [ 8.00439931e-01 5.99392225e-01 -4.98772870e-03 5.49455137e+01] [ 6.27540715e-03 -5.91532209e-05 9.99980308e-01 7.17909369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.20, Y:54.97, Z:0.72 [[ 6.01348408e-01 -7.98978056e-01 -3.76262474e-03 1.10201299e+02] [ 7.98962267e-01 6.01360179e-01 -5.02306137e-03 5.49682966e+01] [ 6.27600850e-03 1.44147658e-05 9.99980306e-01 7.17913024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77185806399999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:110.22, Y:54.99, Z:0.72 [[ 6.03023824e-01 -7.97714052e-01 -3.81567564e-03 1.10224836e+02] [ 7.97698493e-01 6.03035895e-01 -4.98243365e-03 5.49922980e+01] [ 6.27554671e-03 -3.92325123e-05 9.99980308e-01 7.16048539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.801858064 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:110.24, Y:55.01, Z:0.72 [[ 6.02948084e-01 -7.97770972e-01 -3.88375558e-03 1.10235488e+02] [ 7.97755747e-01 6.02960579e-01 -4.93026483e-03 5.50117697e+01] [ 6.27497368e-03 -1.25594604e-04 9.99980304e-01 7.15015254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:55.04, Z:0.72 [[ 6.02733851e-01 -7.97933285e-01 -3.79172717e-03 1.10253572e+02] [ 7.97917615e-01 6.02745778e-01 -5.00063264e-03 5.50351920e+01] [ 6.27561878e-03 -1.14353306e-05 9.99980308e-01 7.20251239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.861858064 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:110.27, Y:55.06, Z:0.72 [[ 6.03654771e-01 -7.97236720e-01 -3.81179233e-03 1.10270053e+02] [ 7.97221133e-01 6.03666805e-01 -4.98529067e-03 5.50552470e+01] [ 6.27550928e-03 -2.94469031e-05 9.99980308e-01 7.16593819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.891858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:110.29, Y:55.08, Z:0.72 [[ 6.03099098e-01 -7.97657253e-01 -3.79278144e-03 1.10287548e+02] [ 7.97641583e-01 6.03111024e-01 -4.99981037e-03 5.50775925e+01] [ 6.27560330e-03 -9.89906929e-06 9.99980308e-01 7.20811703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.921858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:110.30, Y:55.10, Z:0.72 [[ 6.02634398e-01 -7.98008320e-01 -3.80829580e-03 1.10304999e+02] [ 7.97992732e-01 6.02646430e-01 -4.98796520e-03 5.51001888e+01] [ 6.27549360e-03 -3.30729650e-05 9.99980308e-01 7.22072150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.951858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:110.32, Y:55.12, Z:0.72 [[ 6.02215399e-01 -7.98324571e-01 -3.80692142e-03 1.10321674e+02] [ 7.98308983e-01 6.02227430e-01 -4.98901394e-03 5.51219423e+01] [ 6.27548492e-03 -3.46385448e-05 9.99980308e-01 7.21734760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.981858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:110.35, Y:55.15, Z:0.72 [[ 6.04440358e-01 -7.96641305e-01 -3.80598374e-03 1.10345284e+02] [ 7.96625678e-01 6.04452340e-01 -4.98972917e-03 5.51464528e+01] [ 6.27556013e-03 -1.59506949e-05 9.99980308e-01 7.21259715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.011858064 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:110.36, Y:55.17, Z:0.72 [[ 6.03697789e-01 -7.97203871e-01 -3.86869538e-03 1.10361890e+02] [ 7.97188560e-01 6.03710177e-01 -4.94190368e-03 5.51701894e+01] [ 6.27527552e-03 -1.00663371e-04 9.99980305e-01 7.21900955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.041858064 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:110.37, Y:55.19, Z:0.72 [[ 6.00844130e-01 -7.99356798e-01 -3.87822646e-03 1.10370622e+02] [ 7.99341578e-01 6.00856631e-01 -4.93463821e-03 5.51905900e+01] [ 6.27479469e-03 -1.35079249e-04 9.99980304e-01 7.23175689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.071858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:110.39, Y:55.21, Z:0.72 [[ 5.99840598e-01 -8.00110597e-01 -3.78013758e-03 1.10388846e+02] [ 8.00094916e-01 5.99852509e-01 -5.00924108e-03 5.52136067e+01] [ 6.27547188e-03 -1.97226981e-05 9.99980309e-01 7.22952185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101858064 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:110.41, Y:55.24, Z:0.72 [[ 6.00217768e-01 -7.99827607e-01 -3.79869211e-03 1.10405736e+02] [ 7.99812010e-01 6.00229787e-01 -4.99513075e-03 5.52357344e+01] [ 6.27533163e-03 -4.00733463e-05 9.99980309e-01 7.24898724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.131858064 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:110.42, Y:55.26, Z:0.72 [[ 6.00339695e-01 -7.99736101e-01 -3.79729501e-03 1.10421657e+02] [ 7.99720495e-01 6.00351703e-01 -4.99619260e-03 5.52577913e+01] [ 6.27534811e-03 -3.73619025e-05 9.99980309e-01 7.24546824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.44, Y:55.28, Z:0.73 [[ 6.00208382e-01 -7.99834663e-01 -3.79602687e-03 1.10437749e+02] [ 7.99819054e-01 6.00220384e-01 -4.99715592e-03 5.52805061e+01] [ 6.27535123e-03 -3.67997525e-05 9.99980309e-01 7.25076000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.191858064 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:110.45, Y:55.30, Z:0.73 [[ 6.00088503e-01 -7.99924615e-01 -3.79465453e-03 1.10453977e+02] [ 7.99909000e-01 6.00100499e-01 -4.99819781e-03 5.53032649e+01] [ 6.27535554e-03 -3.60172651e-05 9.99980309e-01 7.25546979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221858064 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:110.47, Y:55.33, Z:0.73 [[ 5.99978276e-01 -8.00007299e-01 -3.79325843e-03 1.10470593e+02] [ 7.99991680e-01 5.99990266e-01 -4.99925712e-03 5.53255157e+01] [ 6.27536032e-03 -3.51295122e-05 9.99980309e-01 7.26248797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.49, Y:55.35, Z:0.73 [[ 5.99995648e-01 -7.99994278e-01 -3.79186726e-03 1.10487551e+02] [ 7.99978651e-01 6.00007629e-01 -5.00031208e-03 5.53474449e+01] [ 6.27537034e-03 -3.32473711e-05 9.99980309e-01 7.26625334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:110.51, Y:55.37, Z:0.73 [[ 5.99976516e-01 -8.00008633e-01 -3.79048166e-03 1.10505447e+02] [ 7.99993000e-01 5.99988489e-01 -5.00136221e-03 5.53697298e+01] [ 6.27537831e-03 -3.16589207e-05 9.99980309e-01 7.26802557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.311858064 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:110.52, Y:55.39, Z:0.73 [[ 5.99851580e-01 -8.00102321e-01 -3.78910669e-03 1.10521856e+02] [ 8.00086684e-01 5.99863547e-01 -5.00240369e-03 5.53911559e+01] [ 6.27538179e-03 -3.09140432e-05 9.99980309e-01 7.26254311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341858064 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:110.54, Y:55.41, Z:0.73 [[ 5.99444493e-01 -8.00407366e-01 -3.78788252e-03 1.10538324e+02] [ 8.00391728e-01 5.99456460e-01 -5.00333048e-03 5.54134393e+01] [ 6.27537322e-03 -3.25709318e-05 9.99980309e-01 7.26800289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.371858064 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:110.55, Y:55.43, Z:0.73 [[ 5.99052163e-01 -8.00701048e-01 -3.78651419e-03 1.10554601e+02] [ 8.00685410e-01 5.99064129e-01 -5.00436582e-03 5.54346258e+01] [ 6.27536578e-03 -3.39304988e-05 9.99980309e-01 7.27129951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401858064 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:110.57, Y:55.46, Z:0.73 [[ 5.98649671e-01 -8.01002025e-01 -3.78527413e-03 1.10571549e+02] [ 8.00986387e-01 5.98661637e-01 -5.00530361e-03 5.54564401e+01] [ 6.27535674e-03 -3.55296862e-05 9.99980309e-01 7.27743333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.431858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:110.59, Y:55.48, Z:0.73 [[ 5.98320838e-01 -8.01247688e-01 -3.78394242e-03 1.10588877e+02] [ 8.01232048e-01 5.98332802e-01 -5.00631017e-03 5.54783337e+01] [ 6.27535132e-03 -3.64362396e-05 9.99980309e-01 7.28040887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.61, Y:55.50, Z:0.73 [[ 5.97702770e-01 -8.01708857e-01 -3.78261960e-03 1.10606591e+02] [ 8.01693220e-01 5.97714738e-01 -5.00730945e-03 5.55002233e+01] [ 6.27533182e-03 -3.96177532e-05 9.99980309e-01 7.29982700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.491858064 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:110.62, Y:55.52, Z:0.73 [[ 5.97240762e-01 -8.02053100e-01 -3.78123389e-03 1.10623783e+02] [ 8.02037463e-01 5.97252730e-01 -5.00835564e-03 5.55215410e+01] [ 6.27531943e-03 -4.14971003e-05 9.99980309e-01 7.28784752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52185806399999 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:110.64, Y:55.54, Z:0.73 [[ 5.96629312e-01 -8.02508053e-01 -3.78000356e-03 1.10641277e+02] [ 8.02492420e-01 5.96641285e-01 -5.00928405e-03 5.55435646e+01] [ 6.27529697e-03 -4.47385075e-05 9.99980309e-01 7.30818074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.551858064 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:110.66, Y:55.56, Z:0.73 [[ 5.96102630e-01 -8.02899356e-01 -3.77858545e-03 1.10658516e+02] [ 8.02883724e-01 5.96114604e-01 -5.01035352e-03 5.55649031e+01] [ 6.27527959e-03 -4.70798504e-05 9.99980309e-01 7.29429154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.581858064 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:110.68, Y:55.59, Z:0.73 [[ 5.95739140e-01 -8.03169104e-01 -3.77733721e-03 1.10676759e+02] [ 8.03153471e-01 5.95751113e-01 -5.01129441e-03 5.55858250e+01] [ 6.27526968e-03 -4.83572713e-05 9.99980309e-01 7.30502327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.611858064 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:110.69, Y:55.61, Z:0.73 [[ 5.95483978e-01 -8.03358310e-01 -3.77594639e-03 1.10694088e+02] [ 8.03342675e-01 5.95495948e-01 -5.01234215e-03 5.56082046e+01] [ 6.27526749e-03 -4.86094274e-05 9.99980309e-01 7.31795577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.641858064 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:110.70, Y:55.63, Z:0.73 [[ 5.91584242e-01 -8.06234357e-01 -3.77451262e-03 1.10702991e+02] [ 8.06218773e-01 5.91596278e-01 -5.01342160e-03 5.56275886e+01] [ 6.27498036e-03 -7.72217185e-05 9.99980309e-01 7.26903908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.671858064 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:110.73, Y:55.65, Z:0.73 [[ 5.96140920e-01 -8.02871450e-01 -3.66573556e-03 1.10729155e+02] [ 8.02855288e-01 5.96152183e-01 -5.09519455e-03 5.56522649e+01] [ 6.27612249e-03 9.43987873e-05 9.99980300e-01 7.33726536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.701858064 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:110.75, Y:55.67, Z:0.73 [[ 5.96647703e-01 -8.02494410e-01 -3.77363142e-03 1.10745679e+02] [ 8.02478747e-01 5.96659635e-01 -5.01398999e-03 5.56735730e+01] [ 6.27527249e-03 -3.66733982e-05 9.99980310e-01 7.33986584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.731858064 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:110.76, Y:55.69, Z:0.73 [[ 5.96684797e-01 -8.02466833e-01 -3.77285704e-03 1.10762212e+02] [ 8.02451166e-01 5.96696724e-01 -5.01457261e-03 5.56948645e+01] [ 6.27527964e-03 -3.54142885e-05 9.99980310e-01 7.33846192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.761858064 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:110.78, Y:55.72, Z:0.73 [[ 5.96794770e-01 -8.02385055e-01 -3.77158857e-03 1.10779572e+02] [ 8.02369380e-01 5.96806687e-01 -5.01552648e-03 5.57161260e+01] [ 6.27529277e-03 -3.29672091e-05 9.99980310e-01 7.34914109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.791858064 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:110.80, Y:55.74, Z:0.73 [[ 5.96744975e-01 -8.02422096e-01 -3.77031878e-03 1.10796327e+02] [ 8.02406416e-01 5.96756884e-01 -5.01648084e-03 5.57370478e+01] [ 6.27529876e-03 -3.17682486e-05 9.99980310e-01 7.34716236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821858064 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:110.81, Y:55.76, Z:0.74 [[ 5.96482633e-01 -8.02617133e-01 -3.76906140e-03 1.10813432e+02] [ 8.02601451e-01 5.96494540e-01 -5.01742537e-03 5.57592293e+01] [ 6.27529612e-03 -3.22470539e-05 9.99980310e-01 7.35869716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.851858064 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:110.83, Y:55.78, Z:0.74 [[ 5.96164853e-01 -8.02853208e-01 -3.76770641e-03 1.10830226e+02] [ 8.02837523e-01 5.96176757e-01 -5.01844266e-03 5.57814555e+01] [ 6.27529178e-03 -3.30369539e-05 9.99980310e-01 7.36876299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.85, Y:55.80, Z:0.74 [[ 5.95871622e-01 -8.03070872e-01 -3.76631176e-03 1.10846596e+02] [ 8.03055186e-01 5.95883523e-01 -5.01948912e-03 5.58026076e+01] [ 6.27528863e-03 -3.35850701e-05 9.99980310e-01 7.37282726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.911858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:110.86, Y:55.82, Z:0.74 [[ 5.95466643e-01 -8.03371209e-01 -3.76539772e-03 1.10862619e+02] [ 8.03355524e-01 5.95478547e-01 -5.02017470e-03 5.58242421e+01] [ 6.27527738e-03 -3.56064888e-05 9.99980310e-01 7.37722116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:110.88, Y:55.85, Z:0.74 [[ 5.95250780e-01 -8.03531169e-01 -3.76415763e-03 1.10879704e+02] [ 8.03515482e-01 5.95262681e-01 -5.02110436e-03 5.58471722e+01] [ 6.27527642e-03 -3.57426406e-05 9.99980310e-01 7.37900906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.971858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:110.90, Y:55.87, Z:0.74 [[ 5.95043899e-01 -8.03684390e-01 -3.76280831e-03 1.10896418e+02] [ 8.03668700e-01 5.95055795e-01 -5.02211533e-03 5.58702274e+01] [ 6.27527659e-03 -3.56721778e-05 9.99980310e-01 7.39029711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:55.89, Z:0.74 [[ 5.94826915e-01 -8.03845006e-01 -3.76142178e-03 1.10912646e+02] [ 8.03829312e-01 5.94838806e-01 -5.02315359e-03 5.58931052e+01] [ 6.27527657e-03 -3.56341300e-05 9.99980310e-01 7.39553839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.93, Y:55.92, Z:0.74 [[ 5.94804568e-01 -8.03861548e-01 -3.76000895e-03 1.10928404e+02] [ 8.03845848e-01 5.94816451e-01 -5.02421092e-03 5.59156334e+01] [ 6.27528515e-03 -3.40439761e-05 9.99980310e-01 7.38281524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:55.94, Z:0.74 [[ 5.94309838e-01 -8.04227386e-01 -3.75871989e-03 1.10944700e+02] [ 8.04211687e-01 5.94321723e-01 -5.02517511e-03 5.59383688e+01] [ 6.27527232e-03 -3.62954579e-05 9.99980310e-01 7.39485718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.96, Y:55.96, Z:0.74 [[ 5.94064872e-01 -8.04408361e-01 -3.75726822e-03 1.10960585e+02] [ 8.04392658e-01 5.94076753e-01 -5.02626028e-03 5.59601589e+01] [ 6.27527149e-03 -3.63943006e-05 9.99980310e-01 7.37165347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:55.98, Z:0.74 [[ 5.92470706e-01 -8.05583238e-01 -3.75628547e-03 1.10976723e+02] [ 8.05567554e-01 5.92482611e-01 -5.02699460e-03 5.59836443e+01] [ 6.27519641e-03 -4.75946605e-05 9.99980310e-01 7.37840952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.99, Y:56.01, Z:0.74 [[ 5.91207591e-01 -8.06510685e-01 -3.75487346e-03 1.10993012e+02] [ 8.06495014e-01 5.91219512e-01 -5.02804907e-03 5.60055495e+01] [ 6.27512976e-03 -5.56659415e-05 9.99980310e-01 7.37771435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.181858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.01, Y:56.03, Z:0.74 [[ 5.88355595e-01 -8.08593597e-01 -3.75359305e-03 1.11007082e+02] [ 8.08577961e-01 5.88367563e-01 -5.02900476e-03 5.60274259e+01] [ 6.27491344e-03 -7.62295351e-05 9.99980310e-01 7.38420493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:56.05, Z:0.74 [[ 5.88446583e-01 -8.08527542e-01 -3.71930418e-03 1.11026974e+02] [ 8.08511743e-01 5.88458336e-01 -5.05457301e-03 5.60503087e+01] [ 6.27541704e-03 -3.27548837e-05 9.99980309e-01 7.38765363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.04, Y:56.07, Z:0.74 [[ 5.85599895e-01 -8.10591566e-01 -3.75193761e-03 1.11043615e+02] [ 8.10575963e-01 5.85611906e-01 -5.03023247e-03 5.60723800e+01] [ 6.27464335e-03 -9.55268428e-05 9.99980310e-01 7.39450312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.06, Y:56.09, Z:0.74 [[ 5.84455349e-01 -8.11417204e-01 -3.75054071e-03 1.11059283e+02] [ 8.11401611e-01 5.84467374e-01 -5.03127378e-03 5.60939219e+01] [ 6.27453078e-03 -1.02639901e-04 9.99980310e-01 7.39711323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.08, Y:56.12, Z:0.74 [[ 5.83593311e-01 -8.12037432e-01 -3.74928893e-03 1.11075388e+02] [ 8.12021846e-01 5.83605344e-01 -5.03220643e-03 5.61164834e+01] [ 6.27444505e-03 -1.07742508e-04 9.99980310e-01 7.39851330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.09, Y:56.14, Z:0.74 [[ 5.82262687e-01 -8.12992076e-01 -3.74789735e-03 1.11091309e+02] [ 8.12976504e-01 5.82274738e-01 -5.03324264e-03 5.61400179e+01] [ 6.27429234e-03 -1.16283099e-04 9.99980310e-01 7.39076960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.361858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.11, Y:56.16, Z:0.74 [[ 5.81467514e-01 -8.13560996e-01 -3.74650781e-03 1.11107675e+02] [ 8.13545429e-01 5.81479571e-01 -5.03427674e-03 5.61627914e+01] [ 6.27420895e-03 -1.20685928e-04 9.99980310e-01 7.38304114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.391858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.12, Y:56.19, Z:0.74 [[ 5.80602511e-01 -8.14178542e-01 -3.74512082e-03 1.11124393e+02] [ 8.14162981e-01 5.80614576e-01 -5.03530834e-03 5.61854564e+01] [ 6.27411174e-03 -1.25626063e-04 9.99980310e-01 7.37291425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.14, Y:56.21, Z:0.74 [[ 5.78687937e-01 -8.15540469e-01 -3.74374228e-03 1.11140008e+02] [ 8.15524929e-01 5.78700030e-01 -5.03633308e-03 5.62077749e+01] [ 6.27383721e-03 -1.38649959e-04 9.99980310e-01 7.36844905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.451858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:111.16, Y:56.23, Z:0.74 [[ 5.77865177e-01 -8.16123662e-01 -3.74250413e-03 1.11156255e+02] [ 8.16108129e-01 5.77877278e-01 -5.03725298e-03 5.62302781e+01] [ 6.27372945e-03 -1.43434955e-04 9.99980310e-01 7.37210296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.17, Y:56.25, Z:0.74 [[ 5.77441156e-01 -8.16423735e-01 -3.74109490e-03 1.11171510e+02] [ 8.16408202e-01 5.77453257e-01 -5.03829937e-03 5.62520491e+01] [ 6.27369463e-03 -1.44939147e-04 9.99980310e-01 7.36601749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.19, Y:56.28, Z:0.74 [[ 5.75760235e-01 -8.17610070e-01 -3.73160121e-03 1.11187774e+02] [ 8.17594516e-01 5.75772309e-01 -5.04534604e-03 5.62768520e+01] [ 6.27367837e-03 -1.46027064e-04 9.99980310e-01 7.35211593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.541858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:111.20, Y:56.30, Z:0.74 [[ 5.76245759e-01 -8.17267880e-01 -3.74681172e-03 1.11203014e+02] [ 8.17252391e-01 5.76257917e-01 -5.03405920e-03 5.62984311e+01] [ 6.27330481e-03 -1.61235576e-04 9.99980310e-01 7.35477840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.22, Y:56.32, Z:0.74 [[ 5.75303363e-01 -8.17931643e-01 -3.72404832e-03 1.11219279e+02] [ 8.17916059e-01 5.75315399e-01 -5.05093219e-03 5.63216545e+01] [ 6.27381961e-03 -1.40140652e-04 9.99980310e-01 7.35220309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.23, Y:56.35, Z:0.73 [[ 5.74530253e-01 -8.18474817e-01 -3.73665756e-03 1.11234076e+02] [ 8.18459305e-01 5.74542381e-01 -5.04158664e-03 5.63452646e+01] [ 6.27327983e-03 -1.61758106e-04 9.99980310e-01 7.34612368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.25, Y:56.37, Z:0.73 [[ 5.73183056e-01 -8.19418838e-01 -3.73526019e-03 1.11250371e+02] [ 8.19403340e-01 5.73195201e-01 -5.04262172e-03 5.63699583e+01] [ 6.27305245e-03 -1.70339352e-04 9.99980310e-01 7.33416738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:56.39, Z:0.73 [[ 5.73477143e-01 -8.19212981e-01 -3.74935603e-03 1.11264944e+02] [ 8.19197547e-01 5.73489369e-01 -5.03218406e-03 5.63914346e+01] [ 6.27264633e-03 -1.85620725e-04 9.99980310e-01 7.33859067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:56.42, Z:0.73 [[ 5.71233928e-01 -8.20778869e-01 -3.72130577e-03 1.11279958e+02] [ 8.20763332e-01 5.71246024e-01 -5.05293899e-03 5.64154652e+01] [ 6.27312668e-03 -1.67901136e-04 9.99980310e-01 7.32636138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.29, Y:56.44, Z:0.73 [[ 5.69875871e-01 -8.21722315e-01 -3.73207949e-03 1.11294886e+02] [ 8.21706850e-01 5.69888059e-01 -5.04496900e-03 5.64376608e+01] [ 6.27243114e-03 -1.91669180e-04 9.99980310e-01 7.32646596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.751858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.31, Y:56.46, Z:0.73 [[ 5.68395632e-01 -8.22746914e-01 -3.73116427e-03 1.11310560e+02] [ 8.22731467e-01 5.68407842e-01 -5.04564579e-03 5.64609243e+01] [ 6.27211253e-03 -2.01823232e-04 9.99980310e-01 7.32728980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.33, Y:56.48, Z:0.73 [[ 5.68003079e-01 -8.23017977e-01 -3.72983609e-03 1.11325440e+02] [ 8.23002529e-01 5.68015289e-01 -5.04662741e-03 5.64824873e+01] [ 6.27206901e-03 -2.03164626e-04 9.99980310e-01 7.33279309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.34, Y:56.51, Z:0.73 [[ 5.64469915e-01 -8.25445307e-01 -3.70949615e-03 1.11341527e+02] [ 8.25429813e-01 5.64482067e-01 -5.06166380e-03 5.65094290e+01] [ 6.27207069e-03 -2.04771776e-04 9.99980309e-01 7.33812971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.35, Y:56.53, Z:0.73 [[ 5.63893768e-01 -8.25838835e-01 -3.74678252e-03 1.11354454e+02] [ 8.25823531e-01 5.63906157e-01 -5.03409850e-03 5.65317723e+01] [ 6.27018777e-03 -2.55484403e-04 9.99980310e-01 7.32367895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.37, Y:56.56, Z:0.73 [[ 5.65336778e-01 -8.24851758e-01 -3.72894888e-03 1.11373037e+02] [ 8.24836345e-01 5.65349032e-01 -5.04727407e-03 5.65559496e+01] [ 6.27141053e-03 -2.22362904e-04 9.99980310e-01 7.29589130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:56.58, Z:0.73 [[ 5.63887964e-01 -8.25842780e-01 -3.75052032e-03 1.11382471e+02] [ 8.25827494e-01 5.63900377e-01 -5.03135862e-03 5.65828036e+01] [ 6.27003101e-03 -2.60160225e-04 9.99980309e-01 7.31103857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.40, Y:56.61, Z:0.73 [[ 5.65707487e-01 -8.24597553e-01 -3.73028936e-03 1.11395926e+02] [ 8.24582141e-01 5.65719743e-01 -5.04626641e-03 5.66060822e+01] [ 6.27143727e-03 -2.21219300e-04 9.99980310e-01 7.30471384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:111.41, Y:56.63, Z:0.73 [[ 5.68242936e-01 -8.22852447e-01 -3.71693473e-03 1.11411257e+02] [ 8.22836934e-01 5.68255063e-01 -5.05609883e-03 5.66295228e+01] [ 6.27259027e-03 -1.85338729e-04 9.99980310e-01 7.28474420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.43, Y:56.66, Z:0.73 [[ 5.68162492e-01 -8.22907948e-01 -3.72723608e-03 1.11425647e+02] [ 8.22892485e-01 5.68174683e-01 -5.04851791e-03 5.66551759e+01] [ 6.27218669e-03 -1.98736045e-04 9.99980310e-01 7.30627753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02185806399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:111.44, Y:56.68, Z:0.73 [[ 5.71695097e-01 -8.20457666e-01 -3.73280488e-03 1.11437299e+02] [ 8.20442178e-01 5.71707256e-01 -5.04442457e-03 5.66796826e+01] [ 6.27280844e-03 -1.78677769e-04 9.99980310e-01 7.31471468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.45, Y:56.70, Z:0.73 [[ 5.74657920e-01 -8.18385229e-01 -3.72702549e-03 1.11454035e+02] [ 8.18369670e-01 5.74669987e-01 -5.04867281e-03 5.67048638e+01] [ 6.27356895e-03 -1.48824800e-04 9.99980310e-01 7.31324615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:56.73, Z:0.73 [[ 5.77810004e-01 -8.16162691e-01 -3.74987115e-03 1.11467261e+02] [ 8.16147193e-01 5.77822152e-01 -5.03187988e-03 5.67268702e+01] [ 6.27359124e-03 -1.52976277e-04 9.99980309e-01 7.31537547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.48, Y:56.75, Z:0.73 [[ 5.79532051e-01 -8.14940896e-01 -3.73336178e-03 1.11478436e+02] [ 8.14925295e-01 5.79544064e-01 -5.04401212e-03 5.67492627e+01] [ 6.27421941e-03 -1.19244265e-04 9.99980310e-01 7.30319176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.141858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:111.49, Y:56.78, Z:0.73 [[ 5.83010508e-01 -8.12456175e-01 -3.70293234e-03 1.11493033e+02] [ 8.12440380e-01 5.83022265e-01 -5.06636743e-03 5.67754107e+01] [ 6.27509350e-03 -5.46663068e-05 9.99980310e-01 7.33521334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.171858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.51, Y:56.80, Z:0.73 [[ 5.85086054e-01 -8.10962663e-01 -3.72409075e-03 1.11507438e+02] [ 8.10946936e-01 5.85097902e-01 -5.05082989e-03 5.67979274e+01] [ 6.27499214e-03 -6.48698500e-05 9.99980310e-01 7.33782910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.201858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:111.53, Y:56.82, Z:0.74 [[ 5.86277967e-01 -8.10101451e-01 -3.71270807e-03 1.11525066e+02] [ 8.10085654e-01 5.86289721e-01 -5.05918313e-03 5.68231580e+01] [ 6.27517417e-03 -4.15239461e-05 9.99980310e-01 7.35431986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.54, Y:56.85, Z:0.74 [[ 5.89551816e-01 -8.07721910e-01 -3.73806873e-03 1.11542331e+02] [ 8.07706183e-01 5.89563664e-01 -5.04057065e-03 5.68482459e+01] [ 6.27520885e-03 -4.75836445e-05 9.99980310e-01 7.36218072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.261858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:111.55, Y:56.87, Z:0.74 [[ 5.87723278e-01 -8.09053246e-01 -3.76745934e-03 1.11553701e+02] [ 8.09037684e-01 5.87735345e-01 -5.01901773e-03 5.68712940e+01] [ 6.27492160e-03 -9.82230299e-05 9.99980308e-01 7.37534725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.57, Y:56.89, Z:0.74 [[ 5.88889123e-01 -8.08205317e-01 -3.71018436e-03 1.11569228e+02] [ 8.08189472e-01 5.88900810e-01 -5.06096222e-03 5.68931864e+01] [ 6.27522715e-03 -1.81863357e-05 9.99980310e-01 7.36371084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.59, Y:56.92, Z:0.74 [[ 5.89895622e-01 -8.07471005e-01 -3.70545266e-03 1.11586407e+02] [ 8.07455123e-01 5.89907260e-01 -5.06442542e-03 5.69187415e+01] [ 6.27525011e-03 -4.50434593e-06 9.99980310e-01 7.36757799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:56.94, Z:0.74 [[ 5.90697254e-01 -8.06884624e-01 -3.73613425e-03 1.11600996e+02] [ 8.06868871e-01 5.90709068e-01 -5.04196470e-03 5.69402956e+01] [ 6.27525217e-03 -3.62957242e-05 9.99980310e-01 7.36647521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:111.61, Y:56.96, Z:0.74 [[ 5.89350469e-01 -8.07868961e-01 -3.71049630e-03 1.11614235e+02] [ 8.07853110e-01 5.89362149e-01 -5.06072086e-03 5.69624317e+01] [ 6.27522537e-03 -1.49977679e-05 9.99980310e-01 7.36294255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:56.98, Z:0.73 [[ 5.88554457e-01 -8.08449165e-01 -3.68768264e-03 1.11631160e+02] [ 8.08433220e-01 5.88566010e-01 -5.07739983e-03 5.69848592e+01] [ 6.27526431e-03 7.08114961e-06 9.99980310e-01 7.34879433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.65, Y:57.01, Z:0.74 [[ 5.87190399e-01 -8.09440425e-01 -3.69239766e-03 1.11647871e+02] [ 8.09424522e-01 5.87202008e-01 -5.07395301e-03 5.70077264e+01] [ 6.27524600e-03 -9.34071505e-06 9.99980310e-01 7.37249350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:111.66, Y:57.03, Z:0.73 [[ 5.86162273e-01 -8.10185236e-01 -3.69764513e-03 1.11664257e+02] [ 8.10169372e-01 5.86173935e-01 -5.07011789e-03 5.70299361e+01] [ 6.27519786e-03 -2.38070062e-05 9.99980310e-01 7.34960976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:57.05, Z:0.74 [[ 5.83821070e-01 -8.11873958e-01 -3.69253008e-03 1.11681850e+02] [ 8.11858103e-01 5.83832746e-01 -5.07385495e-03 5.70527802e+01] [ 6.27515067e-03 -3.55870387e-05 9.99980310e-01 7.38573722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.531858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:111.70, Y:57.07, Z:0.74 [[ 5.83252946e-01 -8.12282159e-01 -3.70072497e-03 1.11697354e+02] [ 8.12266351e-01 5.83264684e-01 -5.06787077e-03 5.70739321e+01] [ 6.27504319e-03 -5.01238117e-05 9.99980310e-01 7.38404520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.72, Y:57.10, Z:0.74 [[ 5.81640753e-01 -8.13437439e-01 -3.68343759e-03 1.11715266e+02] [ 8.13421574e-01 5.81652414e-01 -5.08048463e-03 5.70985253e+01] [ 6.27513677e-03 -4.11706974e-05 9.99980310e-01 7.39874855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.73, Y:57.12, Z:0.74 [[ 5.79833572e-01 -8.14726533e-01 -3.70200014e-03 1.11731976e+02] [ 8.14710780e-01 5.79845385e-01 -5.06694021e-03 5.71204918e+01] [ 6.27475832e-03 -7.80773808e-05 9.99980310e-01 7.40462576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:111.74, Y:57.14, Z:0.73 [[ 5.75614587e-01 -8.17712770e-01 -3.69767663e-03 1.11742947e+02] [ 8.17697059e-01 5.75626454e-01 -5.07009339e-03 5.71425541e+01] [ 6.27436060e-03 -1.05159597e-04 9.99980310e-01 7.34789032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.651858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:111.77, Y:57.16, Z:0.74 [[ 5.77935703e-01 -8.16074197e-01 -3.63697198e-03 1.11766237e+02] [ 8.16058172e-01 5.77947147e-01 -5.11431297e-03 5.71646989e+01] [ 6.27563643e-03 -1.22366386e-05 9.99980308e-01 7.41842892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.78, Y:57.19, Z:0.74 [[ 5.76707816e-01 -8.16942123e-01 -3.69622600e-03 1.11783395e+02] [ 8.16926390e-01 5.76719653e-01 -5.07112410e-03 5.71871889e+01] [ 6.27450106e-03 -9.49876528e-05 9.99980311e-01 7.42631876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.711858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.80, Y:57.21, Z:0.74 [[ 5.75210414e-01 -8.17997144e-01 -3.69481671e-03 1.11800438e+02] [ 8.17981425e-01 5.75222271e-01 -5.07215069e-03 5.72082029e+01] [ 6.27434565e-03 -1.04737539e-04 9.99980311e-01 7.43559655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.82, Y:57.23, Z:0.74 [[ 5.74673708e-01 -8.18374294e-01 -3.69385928e-03 1.11816894e+02] [ 8.18358579e-01 5.74685569e-01 -5.07284786e-03 5.72297573e+01] [ 6.27429591e-03 -1.07669142e-04 9.99980311e-01 7.44064713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77185806399999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:111.83, Y:57.25, Z:0.75 [[ 5.73886874e-01 -8.18926259e-01 -3.69291188e-03 1.11834335e+02] [ 8.18910551e-01 5.73898745e-01 -5.07353745e-03 5.72525566e+01] [ 6.27421054e-03 -1.12527952e-04 9.99980311e-01 7.45262132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.85, Y:57.27, Z:0.74 [[ 5.73450556e-01 -8.19231817e-01 -3.69997734e-03 1.11850894e+02] [ 8.19216148e-01 5.73462479e-01 -5.06839673e-03 5.72742710e+01] [ 6.27399004e-03 -1.24606259e-04 9.99980311e-01 7.44873698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:57.30, Z:0.75 [[ 5.73231645e-01 -8.19385022e-01 -3.69686031e-03 1.11867027e+02] [ 8.19369341e-01 5.73243553e-01 -5.07066311e-03 5.72966426e+01] [ 6.27402674e-03 -1.22429442e-04 9.99980311e-01 7.45045380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.861858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.88, Y:57.32, Z:0.75 [[ 5.73702386e-01 -8.19055504e-01 -3.69506831e-03 1.11883140e+02] [ 8.19039808e-01 5.73714274e-01 -5.07196521e-03 5.73193844e+01] [ 6.27413446e-03 -1.16609497e-04 9.99980311e-01 7.46591681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.891858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:111.90, Y:57.34, Z:0.75 [[ 5.74095952e-01 -8.18779725e-01 -3.68786964e-03 1.11899349e+02] [ 8.18763990e-01 5.74107787e-01 -5.07719404e-03 5.73419312e+01] [ 6.27433822e-03 -1.04698311e-04 9.99980311e-01 7.46667777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.921858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.92, Y:57.37, Z:0.75 [[ 5.74508180e-01 -8.18490538e-01 -3.68645595e-03 1.11915652e+02] [ 8.18474790e-01 5.74519999e-01 -5.07822029e-03 5.73651316e+01] [ 6.27441792e-03 -9.97921655e-05 9.99980311e-01 7.47044087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.951858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:111.93, Y:57.39, Z:0.75 [[ 5.74728342e-01 -8.18335966e-01 -3.68501516e-03 1.11931531e+02] [ 8.18320209e-01 5.74740147e-01 -5.07926558e-03 5.73866360e+01] [ 6.27447186e-03 -9.63244898e-05 9.99980311e-01 7.46023170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.981858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:111.95, Y:57.41, Z:0.75 [[ 5.74670862e-01 -8.18376336e-01 -3.68424758e-03 1.11948727e+02] [ 8.18360575e-01 5.74682664e-01 -5.07982229e-03 5.74094114e+01] [ 6.27447956e-03 -9.58171166e-05 9.99980311e-01 7.46649305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:57.43, Z:0.75 [[ 5.75256316e-01 -8.17964862e-01 -3.69536755e-03 1.11964423e+02] [ 8.17949145e-01 5.75268176e-01 -5.07175887e-03 5.74311603e+01] [ 6.27434789e-03 -1.05061407e-04 9.99980311e-01 7.47046644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.041858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:111.98, Y:57.45, Z:0.75 [[ 5.75606866e-01 -8.17718272e-01 -3.68279677e-03 1.11981253e+02] [ 8.17702492e-01 5.75618641e-01 -5.08087063e-03 5.74542024e+01] [ 6.27460722e-03 -8.68480698e-05 9.99980311e-01 7.47228461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.071858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:112.00, Y:57.48, Z:0.75 [[ 5.75928191e-01 -8.17491998e-01 -3.68138733e-03 1.11998169e+02] [ 8.17476206e-01 5.75939951e-01 -5.08189164e-03 5.74767731e+01] [ 6.27466379e-03 -8.26418929e-05 9.99980311e-01 7.49051049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:57.50, Z:0.74 [[ 5.70964306e-01 -8.20966637e-01 -3.68004441e-03 1.12006101e+02] [ 8.20950910e-01 5.70976153e-01 -5.08286393e-03 5.74988167e+01] [ 6.27407930e-03 -1.19001938e-04 9.99980311e-01 7.44463766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:57.52, Z:0.75 [[ 5.75936921e-01 -8.17486247e-01 -3.59156577e-03 1.12031678e+02] [ 8.17470045e-01 5.75948119e-01 -5.14684488e-03 5.75220611e+01] [ 6.27603045e-03 2.82605588e-05 9.99980305e-01 7.50316144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:112.04, Y:57.54, Z:0.75 [[ 5.71015665e-01 -8.20930919e-01 -3.67918047e-03 1.12038526e+02] [ 8.20915189e-01 5.71027505e-01 -5.08343299e-03 5.75436838e+01] [ 6.27406056e-03 -1.17575268e-04 9.99980311e-01 7.45644673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:57.57, Z:0.75 [[ 5.76487798e-01 -8.17097900e-01 -3.58346231e-03 1.12064851e+02] [ 8.17081655e-01 5.76498933e-01 -5.15258143e-03 5.75671159e+01] [ 6.27602566e-03 4.24190079e-05 9.99980305e-01 7.50809925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221858064 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:112.08, Y:57.59, Z:0.75 [[ 5.76804901e-01 -8.16873664e-01 -3.67733664e-03 1.12081282e+02] [ 8.16857842e-01 5.76816619e-01 -5.08468992e-03 5.75894940e+01] [ 6.27469817e-03 -7.09872045e-05 9.99980311e-01 7.50537275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:57.61, Z:0.75 [[ 5.77176259e-01 -8.16611323e-01 -3.67593978e-03 1.12097983e+02] [ 8.16595489e-01 5.77187961e-01 -5.08569957e-03 5.76126390e+01] [ 6.27474804e-03 -6.64107853e-05 9.99980311e-01 7.50776886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:112.11, Y:57.64, Z:0.75 [[ 5.78401374e-01 -8.15744046e-01 -3.67454711e-03 1.12113643e+02] [ 8.15728188e-01 5.78413043e-01 -5.08670561e-03 5.76350337e+01] [ 6.27485579e-03 -5.52741486e-05 9.99980311e-01 7.51200877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.13, Y:57.66, Z:0.75 [[ 5.78492711e-01 -8.15679282e-01 -3.67329402e-03 1.12129849e+02] [ 8.15663417e-01 5.78504370e-01 -5.08761035e-03 5.76579273e+01] [ 6.27487500e-03 -5.30260538e-05 9.99980311e-01 7.50931072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:57.68, Z:0.75 [[ 5.79475897e-01 -8.14981105e-01 -3.67192727e-03 1.12145258e+02] [ 8.14965220e-01 5.79487529e-01 -5.08859660e-03 5.76799850e+01] [ 6.27494614e-03 -4.37739374e-05 9.99980311e-01 7.51265048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.16, Y:57.70, Z:0.75 [[ 5.80486820e-01 -8.14261370e-01 -3.67060557e-03 1.12161804e+02] [ 8.14245465e-01 5.80498424e-01 -5.08954982e-03 5.77028309e+01] [ 6.27500455e-03 -3.43573488e-05 9.99980311e-01 7.50793215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.18, Y:57.73, Z:0.75 [[ 5.80576976e-01 -8.14197097e-01 -3.66920737e-03 1.12178256e+02] [ 8.14181183e-01 5.80588569e-01 -5.09055762e-03 5.77252115e+01] [ 6.27501709e-03 -3.19390531e-05 9.99980311e-01 7.51112931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:57.75, Z:0.75 [[ 5.81015714e-01 -8.13884075e-01 -3.66781438e-03 1.12195210e+02] [ 8.13868149e-01 5.81027290e-01 -5.09156109e-03 5.77479106e+01] [ 6.27504074e-03 -2.68403031e-05 9.99980311e-01 7.51657811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.21, Y:57.77, Z:0.75 [[ 5.81453881e-01 -8.13571104e-01 -3.66641978e-03 1.12210741e+02] [ 8.13555166e-01 5.81465440e-01 -5.09256514e-03 5.77698185e+01] [ 6.27506023e-03 -2.17429914e-05 9.99980311e-01 7.52073501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49185806399998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:112.23, Y:57.79, Z:0.75 [[ 5.83246080e-01 -8.12287250e-01 -3.66516893e-03 1.12226285e+02] [ 8.12271281e-01 5.83257596e-01 -5.09346523e-03 5.77920575e+01] [ 6.27509448e-03 -6.36782930e-06 9.99980311e-01 7.51593652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.24, Y:57.82, Z:0.75 [[ 5.82355043e-01 -8.12926306e-01 -3.66393363e-03 1.12238633e+02] [ 8.12910344e-01 5.82366569e-01 -5.09435367e-03 5.78150637e+01] [ 6.27508657e-03 -1.17269943e-05 9.99980311e-01 7.47611629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.551858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.26, Y:57.84, Z:0.75 [[ 5.84625418e-01 -8.11295227e-01 -3.62979894e-03 1.12259121e+02] [ 8.11279080e-01 5.84636684e-01 -5.11888659e-03 5.78382267e+01] [ 6.27504187e-03 4.78512633e-05 9.99980311e-01 7.51523856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:57.86, Z:0.75 [[ 5.85849956e-01 -8.10411261e-01 -3.66279436e-03 1.12276378e+02] [ 8.10395244e-01 5.85861406e-01 -5.09516697e-03 5.78608227e+01] [ 6.27507055e-03 1.66922145e-05 9.99980311e-01 7.51229632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.611858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.29, Y:57.88, Z:0.75 [[ 5.86054733e-01 -8.10263194e-01 -3.66140308e-03 1.12293038e+02] [ 8.10247168e-01 5.86066170e-01 -5.09616655e-03 5.78829732e+01] [ 6.27506067e-03 1.99910528e-05 9.99980311e-01 7.51240822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.641858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.31, Y:57.90, Z:0.75 [[ 5.85917839e-01 -8.10362197e-01 -3.66000206e-03 1.12309130e+02] [ 8.10346166e-01 5.85929270e-01 -5.09717255e-03 5.79045553e+01] [ 6.27505828e-03 2.06556890e-05 9.99980311e-01 7.51421954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.33, Y:57.93, Z:0.75 [[ 5.86271264e-01 -8.10106547e-01 -3.65873916e-03 1.12326574e+02] [ 8.10090506e-01 5.86282680e-01 -5.09807889e-03 5.79251555e+01] [ 6.27504250e-03 2.49472979e-05 9.99980311e-01 7.52393021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.34, Y:57.95, Z:0.75 [[ 5.85782957e-01 -8.10459715e-01 -3.65749440e-03 1.12343910e+02] [ 8.10443675e-01 5.85794375e-01 -5.09897176e-03 5.79474404e+01] [ 6.27505085e-03 2.26975517e-05 9.99980311e-01 7.52498008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.36, Y:57.97, Z:0.75 [[ 5.85656490e-01 -8.10551114e-01 -3.65611322e-03 1.12360313e+02] [ 8.10535070e-01 5.85667902e-01 -5.09996192e-03 5.79684446e+01] [ 6.27504797e-03 2.34178157e-05 9.99980311e-01 7.52681536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.38, Y:57.99, Z:0.75 [[ 5.85642227e-01 -8.10561425e-01 -3.65487306e-03 1.12377402e+02] [ 8.10545376e-01 5.85653631e-01 -5.10085052e-03 5.79903331e+01] [ 6.27504235e-03 2.48330010e-05 9.99980311e-01 7.52930010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.40, Y:58.01, Z:0.75 [[ 5.86726139e-01 -8.09777185e-01 -3.65349751e-03 1.12395119e+02] [ 8.09761114e-01 5.86737513e-01 -5.10183558e-03 5.80112540e+01] [ 6.27499409e-03 3.49200816e-05 9.99980311e-01 7.53226778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.41, Y:58.03, Z:0.75 [[ 5.87386036e-01 -8.09298651e-01 -3.65226354e-03 1.12412431e+02] [ 8.09282565e-01 5.87397389e-01 -5.10271879e-03 5.80332306e+01] [ 6.27495349e-03 4.15525518e-05 9.99980311e-01 7.53391456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.43, Y:58.06, Z:0.75 [[ 5.87943568e-01 -8.08893709e-01 -3.65089835e-03 1.12429789e+02] [ 8.08877609e-01 5.87954901e-01 -5.10369537e-03 5.80555196e+01] [ 6.27491065e-03 4.75549342e-05 9.99980311e-01 7.53407092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:112.45, Y:58.08, Z:0.75 [[ 5.88267139e-01 -8.08658429e-01 -3.64947315e-03 1.12447159e+02] [ 8.08642318e-01 5.88278457e-01 -5.10471427e-03 5.80763629e+01] [ 6.27487666e-03 5.18172293e-05 9.99980311e-01 7.52016690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.46, Y:58.10, Z:0.75 [[ 5.87611374e-01 -8.09135071e-01 -3.64819816e-03 1.12464218e+02] [ 8.09118964e-01 5.87622697e-01 -5.10562531e-03 5.80979976e+01] [ 6.27490454e-03 4.82971845e-05 9.99980311e-01 7.51915435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:112.48, Y:58.12, Z:0.75 [[ 5.87216613e-01 -8.09421614e-01 -3.64697724e-03 1.12481527e+02] [ 8.09405507e-01 5.87227936e-01 -5.10649727e-03 5.81188472e+01] [ 6.27491618e-03 4.67365692e-05 9.99980311e-01 7.52889830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.50, Y:58.14, Z:0.75 [[ 5.85353423e-01 -8.10770106e-01 -3.63391973e-03 1.12499858e+02] [ 8.10753968e-01 5.85364700e-01 -5.11581859e-03 5.81409870e+01] [ 6.27492112e-03 4.83470831e-05 9.99980311e-01 7.52413207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.52, Y:58.16, Z:0.75 [[ 5.82213405e-01 -8.13027836e-01 -3.64544041e-03 1.12519524e+02] [ 8.13011792e-01 5.82224818e-01 -5.10759594e-03 5.81598144e+01] [ 6.27508356e-03 9.92478386e-06 9.99980311e-01 7.53247299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:58.18, Z:0.75 [[ 5.80618382e-01 -8.14167683e-01 -3.64414533e-03 1.12537748e+02] [ 8.14151656e-01 5.80629817e-01 -5.10851979e-03 5.81811175e+01] [ 6.27509115e-03 -7.86459664e-07 9.99980311e-01 7.53470283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.56, Y:58.20, Z:0.75 [[ 5.78660945e-01 -8.15560079e-01 -3.64270850e-03 1.12555875e+02] [ 8.15544073e-01 5.78672410e-01 -5.10954413e-03 5.82027963e+01] [ 6.27507512e-03 -1.40956910e-05 9.99980311e-01 7.53604356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.58, Y:58.22, Z:0.75 [[ 5.76044009e-01 -8.17410571e-01 -3.64126363e-03 1.12575393e+02] [ 8.17394595e-01 5.76055517e-01 -5.11057360e-03 5.82223080e+01] [ 6.27500688e-03 -3.24338996e-05 9.99980311e-01 7.53484925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:58.24, Z:0.75 [[ 5.74968845e-01 -8.18167207e-01 -3.63996632e-03 1.12593440e+02] [ 8.18151240e-01 5.74980365e-01 -5.11149743e-03 5.82442568e+01] [ 6.27496874e-03 -3.90911905e-05 9.99980311e-01 7.52766406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.151858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:112.61, Y:58.27, Z:0.75 [[ 5.74133560e-01 -8.18753575e-01 -3.63856627e-03 1.12611244e+02] [ 8.18737614e-01 5.74145087e-01 -5.11249385e-03 5.82660432e+01] [ 6.27493757e-03 -4.37767696e-05 9.99980311e-01 7.52426686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:112.63, Y:58.29, Z:0.75 [[ 5.74360815e-01 -8.18594176e-01 -3.63715368e-03 1.12630254e+02] [ 8.18578206e-01 5.74372330e-01 -5.11349860e-03 5.82851481e+01] [ 6.27496061e-03 -4.03015089e-05 9.99980311e-01 7.51645386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:58.31, Z:0.75 [[ 5.73218708e-01 -8.19394433e-01 -3.61596663e-03 1.12649322e+02] [ 8.19378384e-01 5.73230113e-01 -5.12855769e-03 5.83085034e+01] [ 6.27509258e-03 -2.30596790e-05 9.99980311e-01 7.52640541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24185806399998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:112.67, Y:58.33, Z:0.75 [[ 5.72698754e-01 -8.19757847e-01 -3.63446677e-03 1.12666832e+02] [ 8.19741888e-01 5.72710284e-01 -5.11541347e-03 5.83292272e+01] [ 6.27489682e-03 -4.97337326e-05 9.99980311e-01 7.52541931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.69, Y:58.35, Z:0.75 [[ 5.71961107e-01 -8.20272693e-01 -3.63350002e-03 1.12686477e+02] [ 8.20256739e-01 5.71972645e-01 -5.11610006e-03 5.83497847e+01] [ 6.27485979e-03 -5.41926260e-05 9.99980311e-01 7.53149380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.301858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:112.70, Y:58.37, Z:0.75 [[ 5.71685570e-01 -8.20464757e-01 -3.63207256e-03 1.12704095e+02] [ 8.20448801e-01 5.71697105e-01 -5.11711325e-03 5.83719731e+01] [ 6.27485645e-03 -5.45497745e-05 9.99980311e-01 7.52764946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.72, Y:58.39, Z:0.75 [[ 5.71490546e-01 -8.20600618e-01 -3.63065802e-03 1.12721645e+02] [ 8.20584658e-01 5.71502076e-01 -5.11811669e-03 5.83940391e+01] [ 6.27485831e-03 -5.43069636e-05 9.99980311e-01 7.52783589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.74, Y:58.41, Z:0.75 [[ 5.71486516e-01 -8.20603431e-01 -3.62922235e-03 1.12738433e+02] [ 8.20587465e-01 5.71498037e-01 -5.11913451e-03 5.84149965e+01] [ 6.27487279e-03 -5.25780223e-05 9.99980311e-01 7.52578235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.76, Y:58.44, Z:0.75 [[ 5.72345864e-01 -8.20004298e-01 -3.62824557e-03 1.12756460e+02] [ 8.19988316e-01 5.72357362e-01 -5.11982672e-03 5.84365052e+01] [ 6.27493298e-03 -4.48073302e-05 9.99980311e-01 7.53057017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.78, Y:58.46, Z:0.75 [[ 5.72006581e-01 -8.20241050e-01 -3.61823034e-03 1.12775078e+02] [ 8.20225027e-01 5.72018023e-01 -5.12691941e-03 5.84593039e+01] [ 6.27500273e-03 -3.51314347e-05 9.99980311e-01 7.53370154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:58.48, Z:0.75 [[ 5.71884965e-01 -8.20325815e-01 -3.62547427e-03 1.12791495e+02] [ 8.20309827e-01 5.71896455e-01 -5.12179177e-03 5.84814635e+01] [ 6.27493389e-03 -4.49364640e-05 9.99980311e-01 7.53080803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.81, Y:58.50, Z:0.75 [[ 5.71493956e-01 -8.20598272e-01 -3.62418377e-03 1.12809724e+02] [ 8.20582283e-01 5.71505446e-01 -5.12270477e-03 5.85031491e+01] [ 6.27492344e-03 -4.63461821e-05 9.99980311e-01 7.53676996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.511858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:112.83, Y:58.52, Z:0.75 [[ 5.70995540e-01 -8.20945168e-01 -3.62272533e-03 1.12827025e+02] [ 8.20929180e-01 5.71007030e-01 -5.12373595e-03 5.85249366e+01] [ 6.27490791e-03 -4.83705630e-05 9.99980311e-01 7.54089074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.541858064 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:112.84, Y:58.55, Z:0.76 [[ 5.70283470e-01 -8.21439985e-01 -3.62128915e-03 1.12844008e+02] [ 8.21424001e-01 5.70294965e-01 -5.12475080e-03 5.85467763e+01] [ 6.27487819e-03 -5.20531484e-05 9.99980311e-01 7.55170082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.86, Y:58.57, Z:0.76 [[ 5.69721402e-01 -8.21829922e-01 -3.61983319e-03 1.12860983e+02] [ 8.21813939e-01 5.69732899e-01 -5.12577900e-03 5.85695357e+01] [ 6.27485661e-03 -5.45633718e-05 9.99980311e-01 7.55708634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:112.88, Y:58.59, Z:0.76 [[ 5.69966791e-01 -8.21659762e-01 -3.61837980e-03 1.12876223e+02] [ 8.21643769e-01 5.69978274e-01 -5.12680477e-03 5.85919706e+01] [ 6.27488706e-03 -5.09107561e-05 9.99980311e-01 7.56211620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.89, Y:58.62, Z:0.76 [[ 5.70681806e-01 -8.21163317e-01 -3.61707326e-03 1.12894877e+02] [ 8.21147308e-01 5.70693267e-01 -5.12772640e-03 5.86163383e+01] [ 6.27494017e-03 -4.38498109e-05 9.99980311e-01 7.55682627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.91, Y:58.64, Z:0.76 [[ 5.70836604e-01 -8.21055546e-01 -3.65529011e-03 1.12907081e+02] [ 8.21039707e-01 5.70848300e-01 -5.10076825e-03 5.86387334e+01] [ 6.27463021e-03 -8.94330930e-05 9.99980310e-01 7.56428502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.92, Y:58.66, Z:0.76 [[ 5.70555786e-01 -8.21250893e-01 -3.61471513e-03 1.12921584e+02] [ 8.21234875e-01 5.70567235e-01 -5.12936187e-03 5.86611062e+01] [ 6.27493103e-03 -4.19430304e-05 9.99980312e-01 7.56084584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:112.94, Y:58.68, Z:0.76 [[ 5.70311869e-01 -8.21420303e-01 -3.61343676e-03 1.12937191e+02] [ 8.21404284e-01 5.70323315e-01 -5.13026228e-03 5.86842405e+01] [ 6.27492883e-03 -4.22429632e-05 9.99980312e-01 7.55897679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.751858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:112.95, Y:58.71, Z:0.76 [[ 5.70084883e-01 -8.21577860e-01 -3.61201586e-03 1.12953592e+02] [ 8.21561837e-01 5.70096324e-01 -5.13126248e-03 5.87076727e+01] [ 6.27492861e-03 -4.22392170e-05 9.99980312e-01 7.56076413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:112.97, Y:58.73, Z:0.76 [[ 5.69674826e-01 -8.21862249e-01 -3.61059775e-03 1.12968834e+02] [ 8.21846225e-01 5.69686266e-01 -5.13226014e-03 5.87309578e+01] [ 6.27491881e-03 -4.36367291e-05 9.99980312e-01 7.56518138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:58.75, Z:0.76 [[ 5.68583084e-01 -8.22617950e-01 -3.60356072e-03 1.12984258e+02] [ 8.22601910e-01 5.68594502e-01 -5.13720819e-03 5.87543699e+01] [ 6.27492448e-03 -4.33662521e-05 9.99980312e-01 7.56438097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.00, Y:58.78, Z:0.76 [[ 5.68277343e-01 -8.22829167e-01 -3.60880693e-03 1.13000085e+02] [ 8.22813155e-01 5.68288799e-01 -5.13352017e-03 5.87773537e+01] [ 6.27485468e-03 -5.21106165e-05 9.99980312e-01 7.57186257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.871858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:113.02, Y:58.80, Z:0.76 [[ 5.66532496e-01 -8.24031542e-01 -3.59860555e-03 1.13016227e+02] [ 8.24015508e-01 5.66543922e-01 -5.14068732e-03 5.88013233e+01] [ 6.27485660e-03 -5.29403641e-05 9.99980311e-01 7.57348163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:113.03, Y:58.82, Z:0.76 [[ 5.64562148e-01 -8.25382685e-01 -3.60619315e-03 1.13031101e+02] [ 8.25366712e-01 5.64573660e-01 -5.13535909e-03 5.88239591e+01] [ 6.27459814e-03 -7.72024282e-05 9.99980312e-01 7.57389031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.931858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:113.05, Y:58.85, Z:0.76 [[ 5.63458358e-01 -8.26136601e-01 -3.60493472e-03 1.13046394e+02] [ 8.26120639e-01 5.63469883e-01 -5.13624233e-03 5.88478298e+01] [ 6.27450993e-03 -8.40523021e-05 9.99980312e-01 7.56692498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.06, Y:58.87, Z:0.76 [[ 5.62720518e-01 -8.26639361e-01 -3.60350770e-03 1.13061619e+02] [ 8.26623403e-01 5.62732048e-01 -5.13724331e-03 5.88710442e+01] [ 6.27445680e-03 -8.79115823e-05 9.99980312e-01 7.56328791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.08, Y:58.89, Z:0.76 [[ 5.61623214e-01 -8.27385274e-01 -3.60209539e-03 1.13076682e+02] [ 8.27369324e-01 5.61634757e-01 -5.13823340e-03 5.88947416e+01] [ 6.27436061e-03 -9.45120776e-05 9.99980312e-01 7.56470238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.09, Y:58.92, Z:0.76 [[ 5.61007530e-01 -8.27802867e-01 -3.60069202e-03 1.13091339e+02] [ 8.27786920e-01 5.61019077e-01 -5.13921664e-03 5.89176878e+01] [ 6.27431518e-03 -9.74665240e-05 9.99980312e-01 7.56616035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:58.94, Z:0.76 [[ 5.60635344e-01 -8.28054983e-01 -3.59943130e-03 1.13107040e+02] [ 8.28039036e-01 5.60646890e-01 -5.14009948e-03 5.89418926e+01] [ 6.27429495e-03 -9.87481770e-05 9.99980312e-01 7.57625271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:58.97, Z:0.75 [[ 5.59030148e-01 -8.29139506e-01 -3.60184403e-03 1.13121216e+02] [ 8.29123592e-01 5.59041740e-01 -5.13841053e-03 5.89659386e+01] [ 6.27404032e-03 -1.13847461e-04 9.99980312e-01 7.53977975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.14, Y:58.99, Z:0.76 [[ 5.60409301e-01 -8.28208028e-01 -3.58858276e-03 1.13137740e+02] [ 8.28192035e-01 5.60420783e-01 -5.14769040e-03 5.89884534e+01] [ 6.27447488e-03 -8.72220843e-05 9.99980311e-01 7.57369020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.15, Y:59.01, Z:0.76 [[ 5.60191944e-01 -8.28355024e-01 -3.59737658e-03 1.13152977e+02] [ 8.28339073e-01 5.60203485e-01 -5.14153764e-03 5.90109659e+01] [ 6.27428143e-03 -9.95996181e-05 9.99980312e-01 7.57591780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.17, Y:59.03, Z:0.76 [[ 5.60095484e-01 -8.28420254e-01 -3.59607610e-03 1.13168467e+02] [ 8.28404299e-01 5.60107019e-01 -5.14244706e-03 5.90342409e+01] [ 6.27429476e-03 -9.87435297e-05 9.99980312e-01 7.57915418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.18, Y:59.06, Z:0.76 [[ 5.60485519e-01 -8.28156424e-01 -3.59463747e-03 1.13183357e+02] [ 8.28140456e-01 5.60497038e-01 -5.14345248e-03 5.90576737e+01] [ 6.27436687e-03 -9.40340783e-05 9.99980312e-01 7.57894860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.20, Y:59.08, Z:0.76 [[ 5.60920225e-01 -8.27862060e-01 -3.59320655e-03 1.13199113e+02] [ 8.27846080e-01 5.60931727e-01 -5.14445193e-03 5.90810805e+01] [ 6.27444012e-03 -8.89948198e-05 9.99980312e-01 7.58364045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:59.11, Z:0.76 [[ 5.61361257e-01 -8.27563064e-01 -3.59356738e-03 1.13214460e+02] [ 8.27547080e-01 5.61372753e-01 -5.14420003e-03 5.91051508e+01] [ 6.27448075e-03 -8.60915922e-05 9.99980312e-01 7.58056643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:59.13, Z:0.76 [[ 5.61865375e-01 -8.27220894e-01 -3.59065108e-03 1.13228250e+02] [ 8.27204890e-01 5.61876843e-01 -5.14623480e-03 5.91281548e+01] [ 6.27457664e-03 -7.87129892e-05 9.99980312e-01 7.57175217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.24, Y:59.15, Z:0.76 [[ 5.61353794e-01 -8.27568145e-01 -3.58936548e-03 1.13244002e+02] [ 8.27552142e-01 5.61365263e-01 -5.14713131e-03 5.91512264e+01] [ 6.27454701e-03 -8.10254087e-05 9.99980312e-01 7.57011345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.26, Y:59.17, Z:0.76 [[ 5.60484027e-01 -8.28157462e-01 -3.58796765e-03 1.13260202e+02] [ 8.28141465e-01 5.60495505e-01 -5.14810554e-03 5.91738320e+01] [ 6.27448175e-03 -8.59138618e-05 9.99980312e-01 7.57432249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.28, Y:59.20, Z:0.76 [[ 5.59216682e-01 -8.29013775e-01 -3.58657316e-03 1.13277410e+02] [ 8.28997790e-01 5.59228175e-01 -5.14907686e-03 5.91963389e+01] [ 6.27436841e-03 -9.38115477e-05 9.99980312e-01 7.59867624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:59.22, Z:0.76 [[ 5.58526647e-01 -8.29478871e-01 -3.57586053e-03 1.13292073e+02] [ 8.29462848e-01 5.58538087e-01 -5.15653257e-03 5.92176364e+01] [ 6.27448911e-03 -8.59826081e-05 9.99980312e-01 7.58834002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:59.24, Z:0.76 [[ 5.57655581e-01 -8.30064814e-01 -3.55767679e-03 1.13307155e+02] [ 8.30048722e-01 5.57666925e-01 -5.16917634e-03 5.92399445e+01] [ 6.27475007e-03 -7.04250396e-05 9.99980311e-01 7.58643339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.32, Y:59.27, Z:0.76 [[ 5.54009770e-01 -8.32502604e-01 -3.54801802e-03 1.13324272e+02] [ 8.32486519e-01 5.54021125e-01 -5.17589442e-03 5.92656553e+01] [ 6.27462252e-03 -8.61810955e-05 9.99980311e-01 7.58143307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.34, Y:59.29, Z:0.76 [[ 5.52753915e-01 -8.33336830e-01 -3.58290280e-03 1.13340919e+02] [ 8.33320918e-01 5.52765509e-01 -5.15163245e-03 5.92892336e+01] [ 6.27355015e-03 -1.38122845e-04 9.99980312e-01 7.58306701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.36, Y:59.31, Z:0.76 [[ 5.51189870e-01 -8.34372146e-01 -3.58448846e-03 1.13356335e+02] [ 8.34356263e-01 5.51201505e-01 -5.15053001e-03 5.93113938e+01] [ 6.27323421e-03 -1.51820426e-04 9.99980312e-01 7.57379529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:59.33, Z:0.76 [[ 5.48657814e-01 -8.36039343e-01 -3.58063262e-03 1.13373106e+02] [ 8.36023477e-01 5.48669472e-01 -5.15320918e-03 5.93345286e+01] [ 6.27286943e-03 -1.66144451e-04 9.99980312e-01 7.56434881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.39, Y:59.36, Z:0.76 [[ 5.46991892e-01 -8.37130252e-01 -3.57919587e-03 1.13390076e+02] [ 8.37114403e-01 5.47003574e-01 -5.15420689e-03 5.93587609e+01] [ 6.27257545e-03 -1.76887033e-04 9.99980312e-01 7.57821406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:59.38, Z:0.76 [[ 5.46267570e-01 -8.37603009e-01 -3.59734765e-03 1.13404947e+02] [ 8.37587253e-01 5.46279377e-01 -5.14160348e-03 5.93805134e+01] [ 6.27177938e-03 -2.04401296e-04 9.99980311e-01 7.56399070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:59.40, Z:0.76 [[ 5.44818980e-01 -8.38546054e-01 -3.57679234e-03 1.13420034e+02] [ 8.38530225e-01 5.44830688e-01 -5.15586338e-03 5.94039116e+01] [ 6.27217513e-03 -1.90236256e-04 9.99980312e-01 7.58493359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.44, Y:59.43, Z:0.76 [[ 5.44729134e-01 -8.38604428e-01 -3.57535987e-03 1.13435191e+02] [ 8.38588594e-01 5.44740835e-01 -5.15685655e-03 5.94264369e+01] [ 6.27220726e-03 -1.89166008e-04 9.99980312e-01 7.58965221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.45, Y:59.45, Z:0.76 [[ 5.44527484e-01 -8.38735385e-01 -3.57407058e-03 1.13450885e+02] [ 8.38719547e-01 5.44539180e-01 -5.15774997e-03 5.94498589e+01] [ 6.27220886e-03 -1.89106244e-04 9.99980312e-01 7.59370114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74185806399998 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:113.47, Y:59.47, Z:0.76 [[ 5.44627164e-01 -8.38670668e-01 -3.57261155e-03 1.13465838e+02] [ 8.38654822e-01 5.44638849e-01 -5.15876039e-03 5.94722343e+01] [ 6.27228406e-03 -1.86586866e-04 9.99980312e-01 7.59291761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:59.49, Z:0.76 [[ 5.45758726e-01 -8.37934737e-01 -3.57615478e-03 1.13480413e+02] [ 8.37918892e-01 5.45770412e-01 -5.15630767e-03 5.94949925e+01] [ 6.27240878e-03 -1.82427742e-04 9.99980312e-01 7.59613243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:59.52, Z:0.76 [[ 5.47693754e-01 -8.36671266e-01 -3.56994397e-03 1.13494100e+02] [ 8.36655366e-01 5.47705365e-01 -5.16060410e-03 5.95154395e+01] [ 6.27300664e-03 -1.60382145e-04 9.99980312e-01 7.59296270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:59.54, Z:0.76 [[ 5.47799761e-01 -8.36602012e-01 -3.53489109e-03 1.13511275e+02] [ 8.36585954e-01 5.47811153e-01 -5.18483156e-03 5.95415967e+01] [ 6.27409328e-03 -1.16990743e-04 9.99980311e-01 7.59279415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.53, Y:59.57, Z:0.76 [[ 5.48817321e-01 -8.35934698e-01 -3.56775164e-03 1.13526262e+02] [ 8.35918772e-01 5.48828897e-01 -5.16212030e-03 5.95652904e+01] [ 6.27328067e-03 -1.49289532e-04 9.99980312e-01 7.58797263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.54, Y:59.59, Z:0.76 [[ 5.51900669e-01 -8.33902232e-01 -3.56630363e-03 1.13540708e+02] [ 8.33886258e-01 5.51912177e-01 -5.16312048e-03 5.95890345e+01] [ 6.27382410e-03 -1.24361947e-04 9.99980312e-01 7.57922786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.56, Y:59.61, Z:0.76 [[ 5.52221199e-01 -8.33690014e-01 -3.56485677e-03 1.13556286e+02] [ 8.33674028e-01 5.52232692e-01 -5.16411927e-03 5.96139197e+01] [ 6.27390512e-03 -1.20192371e-04 9.99980312e-01 7.56909313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:59.64, Z:0.76 [[ 5.54303673e-01 -8.32306762e-01 -3.59059018e-03 1.13570487e+02] [ 8.32290862e-01 5.54315286e-01 -5.14635860e-03 5.96367706e+01] [ 6.27366808e-03 -1.35769917e-04 9.99980311e-01 7.56419294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.58, Y:59.66, Z:0.76 [[ 5.56573694e-01 -8.30790609e-01 -3.56193526e-03 1.13584756e+02] [ 8.30774550e-01 5.56585086e-01 -5.16611561e-03 5.96608930e+01] [ 6.27448037e-03 -8.38411152e-05 9.99980312e-01 7.55229732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.60, Y:59.68, Z:0.75 [[ 5.57739465e-01 -8.30008441e-01 -3.56051604e-03 1.13600240e+02] [ 8.29992360e-01 5.57750825e-01 -5.16709355e-03 5.96841662e+01] [ 6.27461202e-03 -7.33091192e-05 9.99980312e-01 7.54934459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.62, Y:59.71, Z:0.76 [[ 5.59331050e-01 -8.28936765e-01 -3.55198534e-03 1.13616301e+02] [ 8.28920625e-01 5.59342326e-01 -5.17296782e-03 5.97084267e+01] [ 6.27483896e-03 -5.09123902e-05 9.99980312e-01 7.56383924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.63, Y:59.73, Z:0.76 [[ 5.59916966e-01 -8.28541087e-01 -3.55783738e-03 1.13631597e+02] [ 8.28524965e-01 5.59928267e-01 -5.16893980e-03 5.97311488e+01] [ 6.27481272e-03 -5.35799982e-05 9.99980312e-01 7.56965980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.65, Y:59.75, Z:0.76 [[ 5.60563456e-01 -8.28103836e-01 -3.55652164e-03 1.13647294e+02] [ 8.28087699e-01 5.60574737e-01 -5.16984495e-03 5.97542616e+01] [ 6.27486461e-03 -4.70856707e-05 9.99980312e-01 7.57439067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.66, Y:59.78, Z:0.76 [[ 5.61639437e-01 -8.27374464e-01 -3.55514728e-03 1.13662564e+02] [ 8.27358307e-01 5.61650687e-01 -5.17078988e-03 5.97774049e+01] [ 6.27493042e-03 -3.72611209e-05 9.99980312e-01 7.58378831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.68, Y:59.80, Z:0.76 [[ 5.64211467e-01 -8.25622669e-01 -3.55369172e-03 1.13675345e+02] [ 8.25606471e-01 5.64222658e-01 -5.17179005e-03 5.97953690e+01] [ 6.27502049e-03 -1.59676250e-05 9.99980312e-01 7.58930363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.191858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.69, Y:59.82, Z:0.76 [[ 5.62128200e-01 -8.27042783e-01 -3.48182055e-03 1.13693531e+02] [ 8.27026304e-01 5.62138980e-01 -5.22112011e-03 5.98228985e+01] [ 6.27535676e-03 5.53816641e-05 9.99980308e-01 7.59152469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.71, Y:59.85, Z:0.76 [[ 5.62456588e-01 -8.26819187e-01 -3.55218646e-03 1.13708609e+02] [ 8.26803006e-01 5.62467804e-01 -5.17279952e-03 5.98453279e+01] [ 6.27496042e-03 -2.74832738e-05 9.99980312e-01 7.60180234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.72, Y:59.87, Z:0.76 [[ 5.63253213e-01 -8.26276715e-01 -3.55074362e-03 1.13723773e+02] [ 8.26260518e-01 5.63264404e-01 -5.17378974e-03 5.98681938e+01] [ 6.27498948e-03 -1.96855690e-05 9.99980312e-01 7.59758515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:59.89, Z:0.76 [[ 5.63366407e-01 -8.26199548e-01 -3.54945208e-03 1.13739649e+02] [ 8.26183343e-01 5.63377588e-01 -5.17467564e-03 5.98910094e+01] [ 6.27499643e-03 -1.72597652e-05 9.99980312e-01 7.59549762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.76, Y:59.91, Z:0.76 [[ 5.63474854e-01 -8.26125596e-01 -3.54802387e-03 1.13755535e+02] [ 8.26109384e-01 5.63486024e-01 -5.17565471e-03 5.99142712e+01] [ 6.27500270e-03 -1.47045274e-05 9.99980312e-01 7.59080293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:59.94, Z:0.76 [[ 5.63366645e-01 -8.26199398e-01 -3.54658364e-03 1.13770399e+02] [ 8.26183180e-01 5.63377808e-01 -5.17664143e-03 5.99371400e+01] [ 6.27500455e-03 -1.37806390e-05 9.99980312e-01 7.57821791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:59.96, Z:0.76 [[ 5.62680878e-01 -8.26666596e-01 -3.54528928e-03 1.13786412e+02] [ 8.26650382e-01 5.62692047e-01 -5.17752774e-03 5.99608288e+01] [ 6.27499531e-03 -1.74188763e-05 9.99980312e-01 7.57408706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.80, Y:59.98, Z:0.76 [[ 5.61976333e-01 -8.27145720e-01 -3.54394709e-03 1.13801961e+02] [ 8.27129510e-01 5.61987507e-01 -5.17844629e-03 5.99826981e+01] [ 6.27498367e-03 -2.11389677e-05 9.99980312e-01 7.57635497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.431858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:113.82, Y:60.01, Z:0.76 [[ 5.59543160e-01 -8.28793642e-01 -3.54266105e-03 1.13818538e+02] [ 8.28777460e-01 5.59554374e-01 -5.17932594e-03 6.00057965e+01] [ 6.27490389e-03 -3.80212201e-05 9.99980312e-01 7.58033254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:60.03, Z:0.76 [[ 5.56270985e-01 -8.30993412e-01 -3.54123683e-03 1.13831537e+02] [ 8.30977267e-01 5.56282254e-01 -5.18029953e-03 6.00294310e+01] [ 6.27472199e-03 -6.10369842e-05 9.99980312e-01 7.55652494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.85, Y:60.05, Z:0.76 [[ 5.54725477e-01 -8.32026032e-01 -3.51108408e-03 1.13848355e+02] [ 8.32009777e-01 5.54736587e-01 -5.20089683e-03 6.00533105e+01] [ 6.27500835e-03 -3.61863095e-05 9.99980311e-01 7.55714276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.87, Y:60.08, Z:0.76 [[ 5.52625015e-01 -8.33422591e-01 -3.51821177e-03 1.13866751e+02] [ 8.33406396e-01 5.52636210e-01 -5.19602764e-03 6.00757148e+01] [ 6.27477804e-03 -6.06453440e-05 9.99980312e-01 7.58302165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.88, Y:60.10, Z:0.76 [[ 5.48739204e-01 -8.35986100e-01 -3.53927407e-03 1.13879992e+02] [ 8.35970049e-01 5.48750606e-01 -5.18164122e-03 6.00987088e+01] [ 6.27395883e-03 -1.15357439e-04 9.99980312e-01 7.55840097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.581858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:113.89, Y:60.12, Z:0.75 [[ 5.43221184e-01 -8.39582263e-01 -3.51679812e-03 1.13888427e+02] [ 8.39566189e-01 5.43232553e-01 -5.19698459e-03 6.01200267e+01] [ 6.27373530e-03 -1.29472673e-04 9.99980312e-01 7.53873918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.611858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:113.91, Y:60.14, Z:0.76 [[ 5.42740566e-01 -8.39893322e-01 -3.44769340e-03 1.13911389e+02] [ 8.39876952e-01 5.42751514e-01 -5.24407300e-03 6.01436680e+01] [ 6.27570270e-03 -4.94670745e-05 9.99980306e-01 7.55977772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.641858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:113.93, Y:60.17, Z:0.76 [[ 5.42629191e-01 -8.39965002e-01 -3.51512679e-03 1.13926894e+02] [ 8.39948929e-01 5.42640560e-01 -5.19809087e-03 6.01664310e+01] [ 6.27366478e-03 -1.31891144e-04 9.99980312e-01 7.56183713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:60.19, Z:0.76 [[ 5.40966815e-01 -8.41036595e-01 -3.51439259e-03 1.13942050e+02] [ 8.41020540e-01 5.40978212e-01 -5.19859133e-03 6.01885629e+01] [ 6.27341537e-03 -1.43410965e-04 9.99980312e-01 7.56517225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:60.21, Z:0.76 [[ 5.39757203e-01 -8.41813407e-01 -3.51420712e-03 1.13958535e+02] [ 8.41797368e-01 5.39768621e-01 -5.19871767e-03 6.02128920e+01] [ 6.27320897e-03 -1.52205003e-04 9.99980312e-01 7.56960824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.98, Y:60.24, Z:0.76 [[ 5.38510644e-01 -8.42611360e-01 -3.51891816e-03 1.13975055e+02] [ 8.42595359e-01 5.38522115e-01 -5.19550976e-03 6.02365225e+01] [ 6.27281079e-03 -1.67186797e-04 9.99980312e-01 7.59648356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:113.99, Y:60.26, Z:0.76 [[ 5.38305647e-01 -8.42742286e-01 -3.53132627e-03 1.13990228e+02] [ 8.42726343e-01 5.38317198e-01 -5.18706238e-03 6.02603476e+01] [ 6.27233047e-03 -1.83716704e-04 9.99980312e-01 7.60657905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.791858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:114.00, Y:60.28, Z:0.76 [[ 5.38311971e-01 -8.42738213e-01 -3.53918937e-03 1.14004251e+02] [ 8.42722305e-01 5.38323570e-01 -5.18171164e-03 6.02834392e+01] [ 6.27205546e-03 -1.93176421e-04 9.99980312e-01 7.60813332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.02, Y:60.31, Z:0.76 [[ 5.40719664e-01 -8.41195453e-01 -3.52901808e-03 1.14023459e+02] [ 8.41179467e-01 5.40731156e-01 -5.18862958e-03 6.03106150e+01] [ 6.27290164e-03 -1.62943503e-04 9.99980312e-01 7.59583744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.04, Y:60.34, Z:0.76 [[ 5.41877557e-01 -8.40449754e-01 -3.59496022e-03 1.14040929e+02] [ 8.40434046e-01 5.41889432e-01 -5.14375451e-03 6.03355796e+01] [ 6.27113816e-03 -2.34041828e-04 9.99980309e-01 7.59876431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.06, Y:60.36, Z:0.76 [[ 5.43121234e-01 -8.39646487e-01 -3.61961048e-03 1.14058394e+02] [ 8.39630873e-01 5.43133236e-01 -5.12698915e-03 6.03607253e+01] [ 6.27078918e-03 -2.54560031e-04 9.99980306e-01 7.60217489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:60.38, Z:0.76 [[ 5.39023602e-01 -8.42282760e-01 -3.64810677e-03 1.14064155e+02] [ 8.42267334e-01 5.39035852e-01 -5.10761868e-03 6.03830643e+01] [ 6.26851950e-03 -3.19554143e-04 9.99980302e-01 7.59425501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:114.07, Y:60.41, Z:0.76 [[ 5.38547866e-01 -8.42587432e-01 -3.55181987e-03 1.14073757e+02] [ 8.42571579e-01 5.38559538e-01 -5.17288419e-03 6.04068026e+01] [ 6.27147367e-03 -2.06816735e-04 9.99980313e-01 7.62197695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:60.43, Z:0.76 [[ 5.38235809e-01 -8.42786944e-01 -3.51863880e-03 1.14088744e+02] [ 8.42770948e-01 5.38247283e-01 -5.19535661e-03 6.04322477e+01] [ 6.27247649e-03 -1.69079589e-04 9.99980314e-01 7.63063878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:60.46, Z:0.76 [[ 5.39510314e-01 -8.41971579e-01 -3.53289539e-03 1.14099965e+02] [ 8.41955628e-01 5.39521852e-01 -5.18570885e-03 6.04569827e+01] [ 6.27229374e-03 -1.76797749e-04 9.99980313e-01 7.64191609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:60.48, Z:0.76 [[ 5.42132205e-01 -8.40285856e-01 -3.51462153e-03 1.14120315e+02] [ 8.40269789e-01 5.42143581e-01 -5.19806455e-03 6.04823477e+01] [ 6.27328962e-03 -1.35192093e-04 9.99980314e-01 7.63185362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:60.50, Z:0.77 [[ 5.42632447e-01 -8.39962412e-01 -3.62954311e-03 1.14125310e+02] [ 8.39946851e-01 5.42644518e-01 -5.11992406e-03 6.05013477e+01] [ 6.27009544e-03 -2.70386386e-04 9.99980306e-01 7.65950254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.14, Y:60.53, Z:0.76 [[ 5.41025490e-01 -8.40998814e-01 -3.52330678e-03 1.14138105e+02] [ 8.40982801e-01 5.41036941e-01 -5.19201619e-03 6.05297135e+01] [ 6.27271858e-03 -1.54027301e-04 9.99980314e-01 7.59692467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:114.15, Y:60.55, Z:0.76 [[ 5.43633043e-01 -8.39315478e-01 -3.55573824e-03 1.14154504e+02] [ 8.39299572e-01 5.43644644e-01 -5.17008585e-03 6.05538258e+01] [ 6.27239113e-03 -1.73700079e-04 9.99980313e-01 7.61332114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.17, Y:60.58, Z:0.76 [[ 5.43191301e-01 -8.39601443e-01 -3.55343969e-03 1.14165320e+02] [ 8.39585534e-01 5.43202896e-01 -5.17163920e-03 6.05765880e+01] [ 6.27235447e-03 -1.74227137e-04 9.99980313e-01 7.61517572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.18, Y:60.60, Z:0.76 [[ 5.43717512e-01 -8.39260950e-01 -3.51063091e-03 1.14178235e+02] [ 8.39244845e-01 5.43728833e-01 -5.20053735e-03 6.06017541e+01] [ 6.27343916e-03 -1.18655665e-04 9.99980315e-01 7.60241872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.19, Y:60.63, Z:0.76 [[ 5.43695982e-01 -8.39274904e-01 -3.50920411e-03 1.14192315e+02] [ 8.39258794e-01 5.43707294e-01 -5.20149994e-03 6.06260598e+01] [ 6.27346824e-03 -1.17095797e-04 9.99980315e-01 7.59926384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.21, Y:60.65, Z:0.76 [[ 5.43669410e-01 -8.39292123e-01 -3.50778449e-03 1.14205773e+02] [ 8.39276007e-01 5.43680714e-01 -5.20245713e-03 6.06495700e+01] [ 6.27349606e-03 -1.15582563e-04 9.99980315e-01 7.59348266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:60.67, Z:0.76 [[ 5.43446722e-01 -8.39436338e-01 -3.50651053e-03 1.14220461e+02] [ 8.39420219e-01 5.43458022e-01 -5.20331565e-03 6.06743024e+01] [ 6.27349351e-03 -1.15711001e-04 9.99980315e-01 7.59820860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.301858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:114.23, Y:60.70, Z:0.76 [[ 5.41452168e-01 -8.40724220e-01 -3.51218390e-03 1.14231517e+02] [ 8.40708153e-01 5.41463542e-01 -5.19949587e-03 6.06998240e+01] [ 6.27306164e-03 -1.37443323e-04 9.99980315e-01 7.57679296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.331858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.25, Y:60.72, Z:0.76 [[ 5.42859893e-01 -8.39816049e-01 -3.48438002e-03 1.14248050e+02] [ 8.39799842e-01 5.42871067e-01 -5.21821637e-03 6.07240586e+01] [ 6.27391095e-03 -9.34214157e-05 9.99980314e-01 7.60101496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.361858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.26, Y:60.75, Z:0.76 [[ 5.39578990e-01 -8.41927689e-01 -3.50434516e-03 1.14257655e+02] [ 8.41911613e-01 5.39590351e-01 -5.20477395e-03 6.07494485e+01] [ 6.27295414e-03 -1.41962218e-04 9.99980315e-01 7.56780747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:60.77, Z:0.76 [[ 5.40473770e-01 -8.41353691e-01 -3.47416797e-03 1.14274125e+02] [ 8.41337472e-01 5.40484927e-01 -5.22504915e-03 6.07733712e+01] [ 6.27384981e-03 -9.89456882e-05 9.99980314e-01 7.59396869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.28, Y:60.80, Z:0.75 [[ 5.36340033e-01 -8.43994735e-01 -3.50078051e-03 1.14283005e+02] [ 8.43978688e-01 5.36351434e-01 -5.20717248e-03 6.07969661e+01] [ 6.27247480e-03 -1.61769079e-04 9.99980315e-01 7.53721120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:60.82, Z:0.76 [[ 5.38176070e-01 -8.42825406e-01 -3.44267812e-03 1.14303258e+02] [ 8.42809082e-01 5.38187076e-01 -5.24628517e-03 6.08227763e+01] [ 6.27450730e-03 -7.80952509e-05 9.99980312e-01 7.59225284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:60.85, Z:0.76 [[ 5.36966146e-01 -8.43596510e-01 -3.50518619e-03 1.14316755e+02] [ 8.43580473e-01 5.36977562e-01 -5.20418399e-03 6.08459043e+01] [ 6.27243778e-03 -1.62436005e-04 9.99980315e-01 7.60026234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:60.87, Z:0.76 [[ 5.36352498e-01 -8.43986799e-01 -3.50436271e-03 1.14330872e+02] [ 8.43970767e-01 5.36363921e-01 -5.20473844e-03 6.08700966e+01] [ 6.27234426e-03 -1.66005221e-04 9.99980315e-01 7.61201497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.34, Y:60.90, Z:0.76 [[ 5.36115326e-01 -8.44137477e-01 -3.50391740e-03 1.14343355e+02] [ 8.44121446e-01 5.36126750e-01 -5.20503810e-03 6.08955645e+01] [ 6.27231157e-03 -1.67231124e-04 9.99980315e-01 7.60912304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.571858064 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:114.35, Y:60.92, Z:0.76 [[ 5.34211759e-01 -8.45343442e-01 -3.50158771e-03 1.14353814e+02] [ 8.45327427e-01 5.34223205e-01 -5.20660488e-03 6.09200061e+01] [ 6.27199870e-03 -1.78558576e-04 9.99980315e-01 7.57947556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.37, Y:60.95, Z:0.76 [[ 5.38888624e-01 -8.42369893e-01 -3.46607031e-03 1.14370453e+02] [ 8.42353661e-01 5.38899761e-01 -5.23046650e-03 6.09450901e+01] [ 6.27385197e-03 -1.01018118e-04 9.99980314e-01 7.61392585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.38, Y:60.97, Z:0.76 [[ 5.41188026e-01 -8.40894329e-01 -3.49977909e-03 1.14384000e+02] [ 8.40878211e-01 5.41199328e-01 -5.20781337e-03 6.09679998e+01] [ 6.27329883e-03 -1.24481744e-04 9.99980315e-01 7.61230054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.40, Y:60.99, Z:0.76 [[ 5.41789169e-01 -8.40507211e-01 -3.48198187e-03 1.14398662e+02] [ 8.40491009e-01 5.41800349e-01 -5.21976202e-03 6.09931846e+01] [ 6.27378662e-03 -9.85639294e-05 9.99980315e-01 7.61904445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.41, Y:61.02, Z:0.76 [[ 5.46006721e-01 -8.37773453e-01 -3.50732138e-03 1.14408834e+02] [ 8.37757304e-01 5.46017977e-01 -5.20275572e-03 6.10182687e+01] [ 6.27379115e-03 -9.75445164e-05 9.99980315e-01 7.58439786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.42, Y:61.04, Z:0.76 [[ 5.48825624e-01 -8.35929592e-01 -3.48588883e-03 1.14424147e+02] [ 8.35913313e-01 5.48836692e-01 -5.21714247e-03 6.10427315e+01] [ 6.27434748e-03 -5.05994137e-05 9.99980315e-01 7.59959728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.751858064 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:114.44, Y:61.07, Z:0.76 [[ 5.50663504e-01 -8.34720001e-01 -3.49661541e-03 1.14438423e+02] [ 8.34703743e-01 5.50674603e-01 -5.20994341e-03 6.10661059e+01] [ 6.27434127e-03 -4.97122736e-05 9.99980315e-01 7.59821261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.45, Y:61.09, Z:0.76 [[ 5.52712410e-01 -8.33364730e-01 -3.49554801e-03 1.14452112e+02] [ 8.33348441e-01 5.52723462e-01 -5.21065947e-03 6.10905920e+01] [ 6.27445122e-03 -3.30133357e-05 9.99980315e-01 7.61348719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:61.11, Z:0.76 [[ 5.53725292e-01 -8.32692076e-01 -3.49404033e-03 1.14465856e+02] [ 8.32675767e-01 5.53736315e-01 -5.21167026e-03 6.11130735e+01] [ 6.27449354e-03 -2.35690737e-05 9.99980315e-01 7.61994688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.48, Y:61.14, Z:0.76 [[ 5.53366133e-01 -8.32930879e-01 -3.47482649e-03 1.14481644e+02] [ 8.32914493e-01 5.53377043e-01 -5.22453704e-03 6.11389676e+01] [ 6.27456743e-03 -3.15148211e-06 9.99980315e-01 7.63280693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:61.16, Z:0.76 [[ 5.53476856e-01 -8.32857242e-01 -3.49058652e-03 1.14497316e+02] [ 8.32840922e-01 5.53487862e-01 -5.21398623e-03 6.11620233e+01] [ 6.27450347e-03 -2.12825925e-05 9.99980315e-01 7.63725307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901858064 meters Centerline goodness : 0.996509 Centerline is valid? [True, True] Translation: X:114.51, Y:61.18, Z:0.76 [[ 5.54184090e-01 -8.32386821e-01 -3.48909918e-03 1.14512727e+02] [ 8.32370485e-01 5.54195074e-01 -5.21498135e-03 6.11846993e+01] [ 6.27452332e-03 -1.41634812e-05 9.99980315e-01 7.64132275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.53, Y:61.21, Z:0.76 [[ 5.53696792e-01 -8.32711102e-01 -3.47613393e-03 1.14528497e+02] [ 8.32694718e-01 5.53707703e-01 -5.22364947e-03 6.12094654e+01] [ 6.27455304e-03 -2.24041004e-06 9.99980315e-01 7.64450180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.54, Y:61.23, Z:0.76 [[ 5.54458285e-01 -8.32204217e-01 -3.48588820e-03 1.14542211e+02] [ 8.32187864e-01 5.54469242e-01 -5.21713204e-03 6.12326502e+01] [ 6.27453708e-03 -8.23177221e-06 9.99980315e-01 7.64119283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:61.26, Z:0.76 [[ 5.55091055e-01 -8.31782289e-01 -3.48488182e-03 1.14556746e+02] [ 8.31765923e-01 5.55101994e-01 -5.21780419e-03 6.12561782e+01] [ 6.27454196e-03 -2.24951363e-06 9.99980315e-01 7.63899298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:61.28, Z:0.76 [[ 5.54907746e-01 -8.31904606e-01 -3.48124337e-03 1.14572319e+02] [ 8.31888228e-01 5.54918666e-01 -5.22023331e-03 6.12808530e+01] [ 6.27454306e-03 7.42518945e-07 9.99980315e-01 7.63710421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.59, Y:61.30, Z:0.76 [[ 5.56390495e-01 -8.30913594e-01 -3.49514916e-03 1.14587513e+02] [ 8.30897254e-01 5.56401473e-01 -5.21095514e-03 6.13045279e+01] [ 6.27455960e-03 -4.78393223e-06 9.99980315e-01 7.64305114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.60, Y:61.33, Z:0.76 [[ 5.56866057e-01 -8.30595014e-01 -3.48111586e-03 1.14603238e+02] [ 8.30578609e-01 5.56876937e-01 -5.22031311e-03 6.13278656e+01] [ 6.27451918e-03 1.56748034e-05 9.99980315e-01 7.64077819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.62, Y:61.35, Z:0.76 [[ 5.57130232e-01 -8.30417845e-01 -3.47965030e-03 1.14619179e+02] [ 8.30401430e-01 5.57141098e-01 -5.22128981e-03 6.13512843e+01] [ 6.27450842e-03 1.94318121e-05 9.99980315e-01 7.63965813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.63, Y:61.37, Z:0.76 [[ 5.57982111e-01 -8.29845688e-01 -3.47813613e-03 1.14634862e+02] [ 8.29829256e-01 5.57992951e-01 -5.22229828e-03 6.13733584e+01] [ 6.27447715e-03 2.76899006e-05 9.99980315e-01 7.63743940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:61.40, Z:0.76 [[ 5.57342051e-01 -8.30275762e-01 -3.46360537e-03 1.14651438e+02] [ 8.30259278e-01 5.57352812e-01 -5.23196930e-03 6.13970516e+01] [ 6.27442749e-03 4.03060040e-05 9.99980315e-01 7.63079183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.201858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.67, Y:61.42, Z:0.76 [[ 5.56400203e-01 -8.30907174e-01 -3.47589345e-03 1.14668528e+02] [ 8.30890754e-01 5.56411060e-01 -5.22379286e-03 6.14193216e+01] [ 6.27451252e-03 1.84316782e-05 9.99980315e-01 7.62524185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.68, Y:61.44, Z:0.76 [[ 5.55543816e-01 -8.31480004e-01 -3.47443155e-03 1.14684891e+02] [ 8.31463588e-01 5.55554681e-01 -5.22476501e-03 6.14416926e+01] [ 6.27452434e-03 1.37225704e-05 9.99980315e-01 7.62852435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.70, Y:61.46, Z:0.76 [[ 5.54718525e-01 -8.32030827e-01 -3.47294646e-03 1.14701753e+02] [ 8.32014416e-01 5.54729397e-01 -5.22575198e-03 6.14642969e+01] [ 6.27453223e-03 9.27991188e-06 9.99980315e-01 7.63197922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.72, Y:61.49, Z:0.76 [[ 5.53871149e-01 -8.32595160e-01 -3.47146183e-03 1.14718789e+02] [ 8.32578754e-01 5.53882027e-01 -5.22673803e-03 6.14870918e+01] [ 6.27453710e-03 4.67403761e-06 9.99980315e-01 7.63577544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.74, Y:61.51, Z:0.76 [[ 5.53159569e-01 -8.33068094e-01 -3.46998330e-03 1.14735629e+02] [ 8.33051692e-01 5.53170453e-01 -5.22771943e-03 6.15096803e+01] [ 6.27453850e-03 1.08757382e-06 9.99980315e-01 7.63765311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:61.53, Z:0.76 [[ 5.52377437e-01 -8.33586910e-01 -3.46848926e-03 1.14753627e+02] [ 8.33570512e-01 5.52388326e-01 -5.22871051e-03 6.15313316e+01] [ 6.27453761e-03 -3.00865501e-06 9.99980315e-01 7.63972058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.77, Y:61.55, Z:0.76 [[ 5.52171774e-01 -8.33723163e-01 -3.46700378e-03 1.14769900e+02] [ 8.33706760e-01 5.52182658e-01 -5.22969530e-03 6.15530300e+01] [ 6.27453747e-03 -2.77436265e-06 9.99980315e-01 7.64434493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.79, Y:61.58, Z:0.76 [[ 5.53955288e-01 -8.32539203e-01 -3.46618108e-03 1.14791495e+02] [ 8.32522774e-01 5.53966132e-01 -5.23024052e-03 6.15770307e+01] [ 6.27452720e-03 1.16447012e-05 9.99980315e-01 7.64881344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441858064 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:114.80, Y:61.60, Z:0.77 [[ 5.51741851e-01 -8.34007520e-01 -3.51933481e-03 1.14804146e+02] [ 8.33991343e-01 5.51753071e-01 -5.19501237e-03 6.15976659e+01] [ 6.27448317e-03 -6.87890245e-05 9.99980313e-01 7.65345157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.471858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.83, Y:61.62, Z:0.76 [[ 5.53386685e-01 -8.32917271e-01 -3.46351030e-03 1.14826345e+02] [ 8.32900839e-01 5.53397523e-01 -5.23196765e-03 6.16221617e+01] [ 6.27449424e-03 1.05406028e-05 9.99980315e-01 7.64742155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.84, Y:61.64, Z:0.77 [[ 5.50854855e-01 -8.34593625e-01 -3.52276340e-03 1.14839065e+02] [ 8.34577474e-01 5.50866114e-01 -5.19271903e-03 6.16422754e+01] [ 6.27438118e-03 -7.95844859e-05 9.99980313e-01 7.66882861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.531858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:114.86, Y:61.67, Z:0.77 [[ 5.52349441e-01 -8.33605487e-01 -3.46227837e-03 1.14860642e+02] [ 8.33589063e-01 5.52360292e-01 -5.23273939e-03 6.16659969e+01] [ 6.27446536e-03 4.18329352e-06 9.99980315e-01 7.67046273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.88, Y:61.69, Z:0.77 [[ 5.51007229e-01 -8.34493048e-01 -3.51941122e-03 1.14875630e+02] [ 8.34476882e-01 5.51018463e-01 -5.19491931e-03 6.16885300e+01] [ 6.27438461e-03 -7.44292069e-05 9.99980313e-01 7.68864109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.591858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.89, Y:61.71, Z:0.77 [[ 5.50662100e-01 -8.34720926e-01 -3.49682900e-03 1.14891277e+02] [ 8.34704669e-01 5.50673200e-01 -5.20985252e-03 6.17125042e+01] [ 6.27438293e-03 -4.99511636e-05 9.99980315e-01 7.69034283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.91, Y:61.74, Z:0.77 [[ 5.51214701e-01 -8.34356120e-01 -3.49551192e-03 1.14909505e+02] [ 8.34339850e-01 5.51225782e-01 -5.21072284e-03 6.17354358e+01] [ 6.27441478e-03 -4.42178584e-05 9.99980315e-01 7.68134631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:61.76, Z:0.77 [[ 5.49341071e-01 -8.35590815e-01 -3.51816957e-03 1.14920990e+02] [ 8.35574666e-01 5.49352330e-01 -5.19575289e-03 6.17550582e+01] [ 6.27423804e-03 -8.54529034e-05 9.99980313e-01 7.67468672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:114.94, Y:61.78, Z:0.77 [[ 5.49142858e-01 -8.35721354e-01 -3.45551026e-03 1.14937766e+02] [ 8.35704944e-01 5.49153730e-01 -5.23709641e-03 6.17770786e+01] [ 6.27435965e-03 -1.18729236e-05 9.99980316e-01 7.66804782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.711858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.97, Y:61.80, Z:0.76 [[ 5.52552337e-01 -8.33471046e-01 -3.45407395e-03 1.14965931e+02] [ 8.33454586e-01 5.52563133e-01 -5.23804354e-03 6.17985747e+01] [ 6.27435155e-03 1.54794291e-05 9.99980316e-01 7.64824052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:114.99, Y:61.82, Z:0.76 [[ 5.50914126e-01 -8.34554509e-01 -3.52096763e-03 1.14985900e+02] [ 8.34538350e-01 5.50925372e-01 -5.19399875e-03 6.18243474e+01] [ 6.27446548e-03 -7.69352397e-05 9.99980312e-01 7.64314284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77185806399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:114.99, Y:61.84, Z:0.77 [[ 5.46558546e-01 -8.37413275e-01 -3.57247664e-03 1.14992580e+02] [ 8.37397394e-01 5.46570195e-01 -5.16007632e-03 6.18423827e+01] [ 6.27372566e-03 -1.71298814e-04 9.99980305e-01 7.67863252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.02, Y:61.87, Z:0.77 [[ 5.49300773e-01 -8.35617611e-01 -3.44501063e-03 1.15019883e+02] [ 8.35601158e-01 5.49311576e-01 -5.24381727e-03 6.18657093e+01] [ 6.27421028e-03 1.77800903e-06 9.99980317e-01 7.66825682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.831858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:115.03, Y:61.89, Z:0.77 [[ 5.47267616e-01 -8.36950193e-01 -3.53982533e-03 1.15032858e+02] [ 8.36934164e-01 5.47279049e-01 -5.18148774e-03 6.18872878e+01] [ 6.27391941e-03 -1.26940305e-04 9.99980311e-01 7.68809938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.05, Y:61.91, Z:0.77 [[ 5.46077922e-01 -8.37727130e-01 -3.48690488e-03 1.15047132e+02] [ 8.37710894e-01 5.46089049e-01 -5.21616080e-03 6.19094512e+01] [ 6.27387999e-03 -7.25879555e-05 9.99980316e-01 7.66432558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.07, Y:61.93, Z:0.77 [[ 5.48469559e-01 -8.36163414e-01 -3.44793515e-03 1.15065601e+02] [ 8.36146985e-01 5.48480396e-01 -5.24166092e-03 6.19297083e+01] [ 6.27400993e-03 -8.08913018e-06 9.99980318e-01 7.69924679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.921858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.09, Y:61.95, Z:0.77 [[ 5.50257846e-01 -8.34987713e-01 -3.43818432e-03 1.15087551e+02] [ 8.34971221e-01 5.50268587e-01 -5.24803901e-03 6.19540542e+01] [ 6.27397292e-03 1.69896843e-05 9.99980318e-01 7.71777570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.951858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:115.10, Y:61.98, Z:0.77 [[ 5.50895597e-01 -8.34566909e-01 -3.48069101e-03 1.15104881e+02] [ 8.34550583e-01 5.50906592e-01 -5.22023508e-03 6.19754055e+01] [ 6.27417108e-03 -2.90081847e-05 9.99980317e-01 7.71536680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.12, Y:62.00, Z:0.77 [[ 5.50762574e-01 -8.34654750e-01 -3.46919223e-03 1.15118238e+02] [ 8.34638379e-01 5.50773499e-01 -5.22775306e-03 6.19965188e+01] [ 6.27410807e-03 -1.62702438e-05 9.99980317e-01 7.70565488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.011858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.14, Y:62.02, Z:0.77 [[ 5.51000724e-01 -8.34497713e-01 -3.43064884e-03 1.15136398e+02] [ 8.34481181e-01 5.51011403e-01 -5.25292549e-03 6.20188698e+01] [ 6.27388093e-03 3.15538552e-05 9.99980319e-01 7.70266825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:62.04, Z:0.77 [[ 5.50339042e-01 -8.34934185e-01 -3.44180178e-03 1.15151646e+02] [ 8.34917706e-01 5.50349804e-01 -5.24564329e-03 6.20407193e+01] [ 6.27396184e-03 1.32610588e-05 9.99980318e-01 7.70385402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.071858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:115.17, Y:62.06, Z:0.77 [[ 5.49865216e-01 -8.35246365e-01 -3.42851100e-03 1.15170566e+02] [ 8.35229838e-01 5.49875904e-01 -5.25431570e-03 6.20621588e+01] [ 6.27390367e-03 2.55707459e-05 9.99980319e-01 7.69713230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:115.19, Y:62.08, Z:0.77 [[ 5.49343434e-01 -8.35589640e-01 -3.42707434e-03 1.15186876e+02] [ 8.35573114e-01 5.49354123e-01 -5.25525258e-03 6.20839485e+01] [ 6.27391203e-03 2.33673167e-05 9.99980319e-01 7.69404674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.131858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:115.21, Y:62.11, Z:0.77 [[ 5.48310606e-01 -8.36267746e-01 -3.42579715e-03 1.15206898e+02] [ 8.36251229e-01 5.48321307e-01 -5.25608502e-03 6.21073854e+01] [ 6.27393195e-03 1.71400910e-05 9.99980319e-01 7.69335207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:62.13, Z:0.77 [[ 5.47235826e-01 -8.36971299e-01 -3.46351745e-03 1.15219532e+02] [ 8.36954950e-01 5.47246785e-01 -5.23149365e-03 6.21291600e+01] [ 6.27400882e-03 -3.59473258e-05 9.99980318e-01 7.68012558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.191858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.24, Y:62.15, Z:0.77 [[ 5.45991038e-01 -8.37784020e-01 -3.42381725e-03 1.15235303e+02] [ 8.37767524e-01 5.46001773e-01 -5.25734817e-03 6.21519304e+01] [ 6.27393258e-03 2.10208653e-06 9.99980319e-01 7.67799087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:115.25, Y:62.17, Z:0.77 [[ 5.44383985e-01 -8.38829163e-01 -3.42235236e-03 1.15251075e+02] [ 8.38812681e-01 5.44394743e-01 -5.25830159e-03 6.21740917e+01] [ 6.27392736e-03 -8.17738424e-06 9.99980319e-01 7.67375911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.28, Y:62.20, Z:0.77 [[ 5.43198671e-01 -8.39597225e-01 -3.42103425e-03 1.15276064e+02] [ 8.39580753e-01 5.43209444e-01 -5.25915901e-03 6.21984911e+01] [ 6.27391343e-03 -1.54663290e-05 9.99980319e-01 7.67252717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.29, Y:62.22, Z:0.77 [[ 5.39353943e-01 -8.42071853e-01 -3.50968161e-03 1.15285411e+02] [ 8.42055802e-01 5.39365341e-01 -5.20145166e-03 6.22186674e+01] [ 6.27299666e-03 -1.49924306e-04 9.99980313e-01 7.69758466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.30, Y:62.24, Z:0.77 [[ 5.37824081e-01 -8.43050161e-01 -3.41823338e-03 1.15301383e+02] [ 8.43033748e-01 5.37834941e-01 -5.26086990e-03 6.22414560e+01] [ 6.27362256e-03 -5.22635835e-05 9.99980319e-01 7.69975922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.33, Y:62.27, Z:0.77 [[ 5.39025553e-01 -8.42282482e-01 -3.41677527e-03 1.15325330e+02] [ 8.42266047e-01 5.39036380e-01 -5.26181673e-03 6.22668128e+01] [ 6.27370223e-03 -4.15801340e-05 9.99980319e-01 7.69556327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.34, Y:62.29, Z:0.77 [[ 5.36478396e-01 -8.43906757e-01 -3.50942362e-03 1.15335984e+02] [ 8.43890744e-01 5.36489847e-01 -5.20160315e-03 6.22890647e+01] [ 6.27243819e-03 -1.71022399e-04 9.99980313e-01 7.69538189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:115.35, Y:62.31, Z:0.76 [[ 5.40272997e-01 -8.41482686e-01 -3.46096017e-03 1.15354603e+02] [ 8.41466418e-01 5.40284076e-01 -5.23308827e-03 6.23104206e+01] [ 6.27345484e-03 -8.49854751e-05 9.99980318e-01 7.63906623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.36, Y:62.33, Z:0.77 [[ 5.37404299e-01 -8.43317500e-01 -3.49493602e-03 1.15362471e+02] [ 8.43301413e-01 5.37415643e-01 -5.21098540e-03 6.23316233e+01] [ 6.27274847e-03 -1.46878532e-04 9.99980315e-01 7.69482122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.38, Y:62.36, Z:0.77 [[ 5.37286508e-01 -8.43392870e-01 -3.41691173e-03 1.15377794e+02] [ 8.43376459e-01 5.37297370e-01 -5.26165431e-03 6.23550952e+01] [ 6.27353942e-03 -5.47270412e-05 9.99980320e-01 7.70919677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.39, Y:62.38, Z:0.77 [[ 5.38252927e-01 -8.42776436e-01 -3.41543711e-03 1.15393161e+02] [ 8.42760007e-01 5.38263761e-01 -5.26261134e-03 6.23780500e+01] [ 6.27361086e-03 -4.57778417e-05 9.99980320e-01 7.69973043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:62.40, Z:0.77 [[ 5.38041411e-01 -8.42911493e-01 -3.41397995e-03 1.15407410e+02] [ 8.42895060e-01 5.38052241e-01 -5.26355646e-03 6.24024065e+01] [ 6.27361180e-03 -4.56154873e-05 9.99980320e-01 7.72243434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.42, Y:62.43, Z:0.77 [[ 5.38210034e-01 -8.42803842e-01 -3.41232812e-03 1.15422006e+02] [ 8.42787400e-01 5.38220849e-01 -5.26462712e-03 6.24259757e+01] [ 6.27363410e-03 -4.23920078e-05 9.99980320e-01 7.72284297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.44, Y:62.45, Z:0.77 [[ 5.38625472e-01 -8.42538407e-01 -3.41085997e-03 1.15436695e+02] [ 8.42521954e-01 5.38636270e-01 -5.26557814e-03 6.24486688e+01] [ 6.27366471e-03 -3.75498974e-05 9.99980320e-01 7.72724848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.611858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:115.45, Y:62.47, Z:0.77 [[ 5.40002137e-01 -8.41656739e-01 -3.40953273e-03 1.15451857e+02] [ 8.41640263e-01 5.40012900e-01 -5.26643740e-03 6.24723144e+01] [ 6.27372419e-03 -2.57125697e-05 9.99980320e-01 7.73718521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.641858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:115.47, Y:62.50, Z:0.77 [[ 5.40371857e-01 -8.41419420e-01 -3.40805696e-03 1.15466207e+02] [ 8.41402933e-01 5.40382604e-01 -5.26739224e-03 6.24957348e+01] [ 6.27374082e-03 -2.11985963e-05 9.99980320e-01 7.73497421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.48, Y:62.52, Z:0.77 [[ 5.39477393e-01 -8.41993193e-01 -3.40672197e-03 1.15478973e+02] [ 8.41976711e-01 5.39488149e-01 -5.26825551e-03 6.25199161e+01] [ 6.27372141e-03 -2.62758110e-05 9.99980320e-01 7.70540642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.701858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.50, Y:62.54, Z:0.77 [[ 5.41104428e-01 -8.40948635e-01 -3.37504447e-03 1.15496680e+02] [ 8.40932005e-01 5.41114953e-01 -5.28872551e-03 6.25439637e+01] [ 6.27383353e-03 2.35698731e-05 9.99980319e-01 7.72290356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.52, Y:62.57, Z:0.77 [[ 5.42478687e-01 -8.40062664e-01 -3.40510565e-03 1.15516684e+02] [ 8.40046138e-01 5.42489373e-01 -5.26929950e-03 6.25691154e+01] [ 6.27377540e-03 -1.96318021e-06 9.99980320e-01 7.70233017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.53, Y:62.59, Z:0.77 [[ 5.40724410e-01 -8.41192734e-01 -3.44915827e-03 1.15530418e+02] [ 8.41176411e-01 5.40735406e-01 -5.24086412e-03 6.25934635e+01] [ 6.27365882e-03 -6.74874198e-05 9.99980318e-01 7.71655073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.55, Y:62.62, Z:0.77 [[ 5.40470939e-01 -8.41355665e-01 -3.43644836e-03 1.15546808e+02] [ 8.41339292e-01 5.40481861e-01 -5.24906013e-03 6.26178303e+01] [ 6.27366449e-03 -5.42545739e-05 9.99980319e-01 7.71798666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.56, Y:62.64, Z:0.77 [[ 5.39001615e-01 -8.42297692e-01 -3.44333295e-03 1.15558195e+02] [ 8.42281367e-01 5.39012609e-01 -5.24462303e-03 6.26394040e+01] [ 6.27353375e-03 -7.33949067e-05 9.99980319e-01 7.72317287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.851858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:115.57, Y:62.66, Z:0.77 [[ 5.37291122e-01 -8.43390017e-01 -3.39566283e-03 1.15572779e+02] [ 8.43373519e-01 5.37301851e-01 -5.27530782e-03 6.26633384e+01] [ 6.27363788e-03 -2.94360576e-05 9.99980320e-01 7.73619653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.59, Y:62.69, Z:0.77 [[ 5.36406421e-01 -8.43953003e-01 -3.38821094e-03 1.15588250e+02] [ 8.43936486e-01 5.36417121e-01 -5.28010188e-03 6.26881874e+01] [ 6.27365219e-03 -2.71542853e-05 9.99980320e-01 7.73896774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.60, Y:62.71, Z:0.77 [[ 5.35753047e-01 -8.44367850e-01 -3.40676277e-03 1.15602753e+02] [ 8.44351417e-01 5.35763876e-01 -5.26817014e-03 6.27114968e+01] [ 6.27349392e-03 -5.40667631e-05 9.99980320e-01 7.74314026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.62, Y:62.73, Z:0.77 [[ 5.34377509e-01 -8.45239121e-01 -3.39217556e-03 1.15617152e+02] [ 8.45222646e-01 5.34388273e-01 -5.27754615e-03 6.27339263e+01] [ 6.27352731e-03 -4.69416381e-05 9.99980320e-01 7.74804423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.971858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:115.63, Y:62.76, Z:0.78 [[ 5.32320847e-01 -8.46535893e-01 -3.39082245e-03 1.15632923e+02] [ 8.46519439e-01 5.32331643e-01 -5.27841538e-03 6.27574539e+01] [ 6.27341017e-03 -6.05865701e-05 9.99980320e-01 7.75058738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.65, Y:62.78, Z:0.78 [[ 5.30902955e-01 -8.47425846e-01 -3.38934185e-03 1.15647367e+02] [ 8.47409404e-01 5.30913769e-01 -5.27936593e-03 6.27808650e+01] [ 6.27331940e-03 -6.93291810e-05 9.99980320e-01 7.75116505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.66, Y:62.81, Z:0.78 [[ 5.30594388e-01 -8.47619087e-01 -3.38801035e-03 1.15662219e+02] [ 8.47602643e-01 5.30605200e-01 -5.28022028e-03 6.28051438e+01] [ 6.27331140e-03 -7.00312812e-05 9.99980320e-01 7.75317662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:115.68, Y:62.83, Z:0.78 [[ 5.30355516e-01 -8.47768576e-01 -3.38654140e-03 1.15676995e+02] [ 8.47752129e-01 5.30366324e-01 -5.28116224e-03 6.28291370e+01] [ 6.27331090e-03 -7.00541594e-05 9.99980320e-01 7.75343622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.091858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:115.69, Y:62.85, Z:0.78 [[ 5.30208908e-01 -8.47860280e-01 -3.38507132e-03 1.15691946e+02] [ 8.47843830e-01 5.30219709e-01 -5.28210435e-03 6.28529083e+01] [ 6.27331800e-03 -6.93930481e-05 9.99980320e-01 7.75167910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.71, Y:62.88, Z:0.78 [[ 5.30008193e-01 -8.47985770e-01 -3.38361189e-03 1.15708602e+02] [ 8.47969316e-01 5.30018989e-01 -5.28303906e-03 6.28789117e+01] [ 6.27332050e-03 -6.91450741e-05 9.99980320e-01 7.75470449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.72, Y:62.90, Z:0.78 [[ 5.29475048e-01 -8.48318651e-01 -3.41162715e-03 1.15724096e+02] [ 8.48302319e-01 5.29486029e-01 -5.26509598e-03 6.29032943e+01] [ 6.27288803e-03 -1.06354271e-04 9.99980320e-01 7.76176144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:62.93, Z:0.78 [[ 5.29300093e-01 -8.48427802e-01 -3.41713605e-03 1.15740012e+02] [ 8.48411494e-01 5.29311111e-01 -5.26156987e-03 6.29274670e+01] [ 6.27279024e-03 -1.14188076e-04 9.99980319e-01 7.76974248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.211858064 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:115.76, Y:62.95, Z:0.78 [[ 5.30532121e-01 -8.47657939e-01 -3.41854162e-03 1.15758382e+02] [ 8.47641622e-01 5.30543124e-01 -5.26066953e-03 6.29519677e+01] [ 6.27293204e-03 -1.06744007e-04 9.99980319e-01 7.76728827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24185806399998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:115.77, Y:62.97, Z:0.78 [[ 5.28639423e-01 -8.48839458e-01 -3.45475196e-03 1.15767047e+02] [ 8.48823315e-01 5.28650687e-01 -5.23746879e-03 6.29737768e+01] [ 6.27212717e-03 -1.63741530e-04 9.99980317e-01 7.77487105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.78, Y:63.00, Z:0.78 [[ 5.28766763e-01 -8.48760436e-01 -3.38117292e-03 1.15781292e+02] [ 8.48743988e-01 5.28777568e-01 -5.28454637e-03 6.29983622e+01] [ 6.27320227e-03 -7.54577134e-05 9.99980320e-01 7.77031714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.301858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:115.79, Y:63.02, Z:0.78 [[ 5.30139762e-01 -8.47903539e-01 -3.37967694e-03 1.15793591e+02] [ 8.47887067e-01 5.30150531e-01 -5.28550293e-03 6.30223826e+01] [ 6.27333416e-03 -6.35291025e-05 9.99980320e-01 7.76332178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.331858064 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:115.81, Y:63.05, Z:0.78 [[ 5.30642902e-01 -8.47588755e-01 -3.37833539e-03 1.15807350e+02] [ 8.47572271e-01 5.30653653e-01 -5.28636027e-03 6.30464736e+01] [ 6.27338553e-03 -5.82138452e-05 9.99980320e-01 7.76442320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.361858064 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:115.82, Y:63.07, Z:0.78 [[ 5.31261815e-01 -8.47200968e-01 -3.37684129e-03 1.15821467e+02] [ 8.47184471e-01 5.31272544e-01 -5.28731451e-03 6.30696677e+01] [ 6.27344103e-03 -5.18591985e-05 9.99980320e-01 7.76219980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.391858064 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:115.84, Y:63.09, Z:0.78 [[ 5.31637151e-01 -8.46965493e-01 -3.37549543e-03 1.15836158e+02] [ 8.46948985e-01 5.31647865e-01 -5.28817358e-03 6.30932117e+01] [ 6.27347548e-03 -4.74828944e-05 9.99980320e-01 7.76814749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.421858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:115.85, Y:63.12, Z:0.78 [[ 5.32937583e-01 -8.46147829e-01 -3.37400447e-03 1.15850968e+02] [ 8.46131299e-01 5.32948262e-01 -5.28912468e-03 6.31160973e+01] [ 6.27355119e-03 -3.60774645e-05 9.99980320e-01 7.76998083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.451858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:115.87, Y:63.14, Z:0.78 [[ 5.32701758e-01 -8.46296321e-01 -3.37266793e-03 1.15866279e+02] [ 8.46279788e-01 5.32712433e-01 -5.28997681e-03 6.31402457e+01] [ 6.27355005e-03 -3.62407517e-05 9.99980320e-01 7.77176839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.481858064 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:115.88, Y:63.16, Z:0.78 [[ 5.33218142e-01 -8.45971068e-01 -3.37119343e-03 1.15880430e+02] [ 8.45954523e-01 5.33228798e-01 -5.29091631e-03 6.31637041e+01] [ 6.27357954e-03 -3.06637644e-05 9.99980320e-01 7.76741802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.511858064 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:115.89, Y:63.19, Z:0.78 [[ 5.33676814e-01 -8.45681809e-01 -3.36676444e-03 1.15894891e+02] [ 8.45665241e-01 5.33687434e-01 -5.29373684e-03 6.31880702e+01] [ 6.27361683e-03 -2.20110492e-05 9.99980320e-01 7.77157888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.541858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:115.91, Y:63.21, Z:0.78 [[ 5.34768873e-01 -8.44991658e-01 -3.36913032e-03 1.15909171e+02] [ 8.44975085e-01 5.34779485e-01 -5.29223068e-03 6.32127716e+01] [ 6.27363256e-03 -1.67109379e-05 9.99980320e-01 7.77766741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.571858064 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:115.92, Y:63.24, Z:0.78 [[ 5.35133654e-01 -8.44760695e-01 -3.36765214e-03 1.15923934e+02] [ 8.44744112e-01 5.35144250e-01 -5.29317114e-03 6.32368216e+01] [ 6.27364261e-03 -1.22503058e-05 9.99980320e-01 7.78201423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:115.94, Y:63.26, Z:0.78 [[ 5.35103781e-01 -8.44779622e-01 -3.36644227e-03 1.15937480e+02] [ 8.44763035e-01 5.35114371e-01 -5.29394041e-03 6.32599735e+01] [ 6.27364462e-03 -1.10384590e-05 9.99980320e-01 7.78366370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.631858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:115.95, Y:63.28, Z:0.78 [[ 5.35797023e-01 -8.44340116e-01 -3.36447641e-03 1.15950698e+02] [ 8.44323511e-01 5.35807586e-01 -5.29518949e-03 6.32837578e+01] [ 6.27365288e-03 -3.55977212e-06 9.99980320e-01 7.78231174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:115.96, Y:63.31, Z:0.78 [[ 5.35758831e-01 -8.44364355e-01 -3.36315578e-03 1.15964818e+02] [ 8.44347746e-01 5.35769386e-01 -5.29602813e-03 6.33075572e+01] [ 6.27365328e-03 -2.27916550e-06 9.99980320e-01 7.78516023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.691858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.98, Y:63.33, Z:0.78 [[ 5.36025848e-01 -8.44194877e-01 -3.36170331e-03 1.15978739e+02] [ 8.44178258e-01 5.36036389e-01 -5.29694994e-03 6.33306060e+01] [ 6.27365330e-03 1.42523627e-06 9.99980320e-01 7.79304977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.99, Y:63.35, Z:0.78 [[ 5.35557436e-01 -8.44492120e-01 -3.36039497e-03 1.15993363e+02] [ 8.44475502e-01 5.35567979e-01 -5.29777982e-03 6.33548702e+01] [ 6.27365325e-03 -5.05853488e-07 9.99980320e-01 7.80189960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.01, Y:63.38, Z:0.78 [[ 5.35333854e-01 -8.44633874e-01 -3.35896367e-03 1.16007354e+02] [ 8.44617254e-01 5.35344392e-01 -5.29868716e-03 6.33775824e+01] [ 6.27365303e-03 -4.72052741e-07 9.99980320e-01 7.80713086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.02, Y:63.40, Z:0.78 [[ 5.34425554e-01 -8.45208880e-01 -3.35799130e-03 1.16022257e+02] [ 8.45192267e-01 5.34436103e-01 -5.29930331e-03 6.34014011e+01] [ 6.27365001e-03 -6.06517762e-06 9.99980320e-01 7.81424670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.811858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.04, Y:63.42, Z:0.78 [[ 5.33842204e-01 -8.45577456e-01 -3.35658109e-03 1.16037170e+02] [ 8.45560845e-01 5.33852756e-01 -5.30019639e-03 6.34245387e+01] [ 6.27364665e-03 -8.72501890e-06 9.99980320e-01 7.81271323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.05, Y:63.45, Z:0.78 [[ 5.33050405e-01 -8.46076833e-01 -3.35532024e-03 1.16052005e+02] [ 8.46060227e-01 5.33060964e-01 -5.30099446e-03 6.34483248e+01] [ 6.27363885e-03 -1.31057643e-05 9.99980320e-01 7.81094266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:63.47, Z:0.78 [[ 5.31014420e-01 -8.47356146e-01 -3.35392488e-03 1.16065487e+02] [ 8.47339559e-01 5.31025011e-01 -5.30187715e-03 6.34713928e+01] [ 6.27359618e-03 -2.65400123e-05 9.99980320e-01 7.80015515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.08, Y:63.50, Z:0.78 [[ 5.29904869e-01 -8.48050464e-01 -3.35267326e-03 1.16080513e+02] [ 8.48033887e-01 5.29915473e-01 -5.30266851e-03 6.34953898e+01] [ 6.27356392e-03 -3.32706729e-05 9.99980320e-01 7.79770335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.09, Y:63.52, Z:0.77 [[ 5.25914639e-01 -8.50530753e-01 -3.35122500e-03 1.16090737e+02] [ 8.50514219e-01 5.25925313e-01 -5.30358363e-03 6.35181281e+01] [ 6.27335503e-03 -6.10322458e-05 9.99980320e-01 7.74562683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.12, Y:63.54, Z:0.78 [[ 5.29402057e-01 -8.48364694e-01 -3.28745340e-03 1.16116043e+02] [ 8.48347865e-01 5.29412262e-01 -5.34382773e-03 6.35439312e+01] [ 6.27393292e-03 4.01293228e-05 9.99980318e-01 7.77508312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99185806399998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:116.13, Y:63.57, Z:0.78 [[ 5.26905700e-01 -8.49916920e-01 -3.40774746e-03 1.16126033e+02] [ 8.49900603e-01 5.26916706e-01 -5.26780345e-03 6.35654048e+01] [ 6.27279435e-03 -1.20610955e-04 9.99980319e-01 7.77582213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.14, Y:63.59, Z:0.78 [[ 5.25798342e-01 -8.50602664e-01 -3.34841743e-03 1.16141170e+02] [ 8.50586121e-01 5.25809000e-01 -5.30524972e-03 6.35895482e+01] [ 6.27328756e-03 -5.86258875e-05 9.99980321e-01 7.79224171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.16, Y:63.61, Z:0.78 [[ 5.24101532e-01 -8.51649213e-01 -3.34693920e-03 1.16156418e+02] [ 8.51632686e-01 5.24112214e-01 -5.30618213e-03 6.36128101e+01] [ 6.27317755e-03 -6.93846399e-05 9.99980321e-01 7.80755362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.17, Y:63.64, Z:0.78 [[ 5.23376235e-01 -8.52095139e-01 -3.34541936e-03 1.16170630e+02] [ 8.52078614e-01 5.23386921e-01 -5.30714018e-03 6.36355265e+01] [ 6.27313709e-03 -7.29292513e-05 9.99980321e-01 7.81135685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:63.66, Z:0.78 [[ 5.25380529e-01 -8.50860809e-01 -3.34405408e-03 1.16192428e+02] [ 8.50844254e-01 5.25391169e-01 -5.30800031e-03 6.36621127e+01] [ 6.27330592e-03 -5.65491877e-05 9.99980321e-01 7.81036029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.20, Y:63.68, Z:0.78 [[ 5.22662876e-01 -8.52532546e-01 -3.43163973e-03 1.16199328e+02] [ 8.52516383e-01 5.22674110e-01 -5.25278036e-03 6.36842059e+01] [ 6.27179546e-03 -1.80095803e-04 9.99980316e-01 7.82658307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.21, Y:63.71, Z:0.78 [[ 5.22091915e-01 -8.52882681e-01 -3.34132331e-03 1.16214581e+02] [ 8.52866157e-01 5.22102601e-01 -5.30961622e-03 6.37086376e+01] [ 6.27299331e-03 -7.75938736e-05 9.99980322e-01 7.80768034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.201858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:116.23, Y:63.73, Z:0.78 [[ 5.22583126e-01 -8.52581748e-01 -3.35256714e-03 1.16228584e+02] [ 8.52565263e-01 5.22593872e-01 -5.30254158e-03 6.37321370e+01] [ 6.27288122e-03 -8.72635266e-05 9.99980321e-01 7.83914510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.231858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:116.24, Y:63.76, Z:0.78 [[ 5.23472904e-01 -8.52035779e-01 -3.33921970e-03 1.16241569e+02] [ 8.52019229e-01 5.23483551e-01 -5.31093371e-03 6.37568443e+01] [ 6.27313212e-03 -6.49494961e-05 9.99980322e-01 7.84505728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.261858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.26, Y:63.78, Z:0.78 [[ 5.23917045e-01 -8.51762754e-01 -3.33775425e-03 1.16255891e+02] [ 8.51746193e-01 5.23927674e-01 -5.31185454e-03 6.37815408e+01] [ 6.27318167e-03 -5.99483395e-05 9.99980322e-01 7.84618291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.27, Y:63.81, Z:0.79 [[ 5.24147298e-01 -8.51621089e-01 -3.33628503e-03 1.16271544e+02] [ 8.51604519e-01 5.24157913e-01 -5.31277717e-03 6.38070323e+01] [ 6.27321328e-03 -5.65176081e-05 9.99980322e-01 7.85562667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:63.83, Z:0.79 [[ 5.25610227e-01 -8.50718904e-01 -3.35200978e-03 1.16283521e+02] [ 8.50702378e-01 5.25620911e-01 -5.30290553e-03 6.38298801e+01] [ 6.27316841e-03 -6.43013184e-05 9.99980321e-01 7.86275292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.351858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:116.30, Y:63.86, Z:0.78 [[ 5.29436936e-01 -8.48342746e-01 -3.33411295e-03 1.16304795e+02] [ 8.48326102e-01 5.29447434e-01 -5.31413409e-03 6.38572739e+01] [ 6.27344465e-03 -1.49161703e-05 9.99980322e-01 7.84483411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.31, Y:63.88, Z:0.79 [[ 5.28305020e-01 -8.49047711e-01 -3.43361146e-03 1.16310669e+02] [ 8.49031481e-01 5.28316159e-01 -5.25163473e-03 6.38798177e+01] [ 6.27292087e-03 -1.40779237e-04 9.99980315e-01 7.86707738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.411858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:116.33, Y:63.91, Z:0.79 [[ 5.29934100e-01 -8.48032279e-01 -3.33205188e-03 1.16327692e+02] [ 8.48015622e-01 5.29944576e-01 -5.31530038e-03 6.39054905e+01] [ 6.27334912e-03 -8.87312119e-06 9.99980322e-01 7.86125499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.34, Y:63.93, Z:0.79 [[ 5.30902759e-01 -8.47426062e-01 -3.36587856e-03 1.16343096e+02] [ 8.47409526e-01 5.30913427e-01 -5.29410512e-03 6.39306325e+01] [ 6.27335277e-03 -4.16225379e-05 9.99980321e-01 7.86230584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.35, Y:63.95, Z:0.79 [[ 5.29959879e-01 -8.48015996e-01 -3.37601321e-03 1.16353905e+02] [ 8.47999512e-01 5.29970628e-01 -5.28775631e-03 6.39536683e+01] [ 6.27328978e-03 -6.05588626e-05 9.99980321e-01 7.86841927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.37, Y:63.98, Z:0.79 [[ 5.30182917e-01 -8.47876762e-01 -3.32734104e-03 1.16367734e+02] [ 8.47860083e-01 5.30193358e-01 -5.31820811e-03 6.39766690e+01] [ 6.27331919e-03 -1.49656011e-06 9.99980323e-01 7.86899542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.39, Y:64.00, Z:0.79 [[ 5.31402010e-01 -8.47113240e-01 -3.32602137e-03 1.16385016e+02] [ 8.47096541e-01 5.31412419e-01 -5.31903331e-03 6.40020066e+01] [ 6.27331260e-03 9.08379844e-06 9.99980323e-01 7.87411956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:64.02, Z:0.79 [[ 5.30344443e-01 -8.47775606e-01 -3.36062930e-03 1.16395786e+02] [ 8.47759056e-01 5.30355089e-01 -5.29739566e-03 6.40242020e+01] [ 6.27332967e-03 -3.95595766e-05 9.99980322e-01 7.88396784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.41, Y:64.05, Z:0.79 [[ 5.31710785e-01 -8.46919475e-01 -3.32329537e-03 1.16413481e+02] [ 8.46902761e-01 5.31721170e-01 -5.32071428e-03 6.40507065e+01] [ 6.27328305e-03 1.45731388e-05 9.99980323e-01 7.87173703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.621858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.43, Y:64.07, Z:0.79 [[ 5.31971197e-01 -8.46755742e-01 -3.37044444e-03 1.16426933e+02] [ 8.46739210e-01 5.31981872e-01 -5.29125566e-03 6.40735958e+01] [ 6.27341646e-03 -3.90918560e-05 9.99980321e-01 7.86982486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.651858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.44, Y:64.10, Z:0.79 [[ 5.29047511e-01 -8.48585560e-01 -3.35842442e-03 1.16437102e+02] [ 8.48569018e-01 5.29058168e-01 -5.29876365e-03 6.40968101e+01] [ 6.27325619e-03 -4.65571929e-05 9.99980322e-01 7.87348070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.45, Y:64.12, Z:0.79 [[ 5.28170948e-01 -8.49131569e-01 -3.32084541e-03 1.16451886e+02] [ 8.49114890e-01 5.28181387e-01 -5.32221144e-03 6.41210604e+01] [ 6.27326649e-03 -8.74182546e-06 9.99980323e-01 7.87651629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.711858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.47, Y:64.15, Z:0.79 [[ 5.28386228e-01 -8.48997630e-01 -3.31937333e-03 1.16470730e+02] [ 8.48980942e-01 5.28396654e-01 -5.32312940e-03 6.41468401e+01] [ 6.27327001e-03 -5.41643558e-06 9.99980323e-01 7.87533449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.49, Y:64.17, Z:0.79 [[ 5.25754577e-01 -8.50629639e-01 -3.36783431e-03 1.16485536e+02] [ 8.50613176e-01 5.25765357e-01 -5.29290662e-03 6.41722769e+01] [ 6.27299386e-03 -8.19543563e-05 9.99980321e-01 7.88922912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.49, Y:64.19, Z:0.79 [[ 5.22416142e-01 -8.52683994e-01 -3.37346479e-03 1.16494474e+02] [ 8.52667596e-01 5.22427022e-01 -5.28939781e-03 6.41942995e+01] [ 6.27257402e-03 -1.13177315e-04 9.99980321e-01 7.90339052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:64.22, Z:0.79 [[ 5.22785877e-01 -8.52457588e-01 -3.31467202e-03 1.16513332e+02] [ 8.52440951e-01 5.22796384e-01 -5.32598798e-03 6.42204666e+01] [ 6.27307742e-03 -4.12108716e-05 9.99980323e-01 7.90715422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:64.25, Z:0.79 [[ 5.20441703e-01 -8.53890590e-01 -3.36078494e-03 1.16525264e+02] [ 8.53874166e-01 5.20452542e-01 -5.29728270e-03 6.42457486e+01] [ 6.27242891e-03 -1.12760608e-04 9.99980322e-01 7.91030349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:64.27, Z:0.79 [[ 5.20502801e-01 -8.53853388e-01 -3.35037450e-03 1.16537988e+02] [ 8.53836922e-01 5.20513574e-01 -5.30375723e-03 6.42697825e+01] [ 6.27254649e-03 -1.00052958e-04 9.99980322e-01 7.91034759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.891858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:116.55, Y:64.29, Z:0.79 [[ 5.18443017e-01 -8.55105672e-01 -3.33569944e-03 1.16548168e+02] [ 8.55089173e-01 5.18453739e-01 -5.31288194e-03 6.42935528e+01] [ 6.27248133e-03 -9.78939289e-05 9.99980323e-01 7.91099346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.56, Y:64.32, Z:0.79 [[ 5.17433960e-01 -8.55716737e-01 -3.31092060e-03 1.16560665e+02] [ 8.55700152e-01 5.17444547e-01 -5.32827918e-03 6.43189919e+01] [ 6.27271548e-03 -7.61226596e-05 9.99980323e-01 7.91589930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.57, Y:64.34, Z:0.79 [[ 5.16629401e-01 -8.56202727e-01 -3.30943901e-03 1.16574268e+02] [ 8.56186146e-01 5.16639994e-01 -5.32919925e-03 6.43432652e+01] [ 6.27266348e-03 -8.02748190e-05 9.99980323e-01 7.91997156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.59, Y:64.37, Z:0.79 [[ 5.15747087e-01 -8.56734498e-01 -3.30793483e-03 1.16587826e+02] [ 8.56717922e-01 5.15757688e-01 -5.33013275e-03 6.43671422e+01] [ 6.27260143e-03 -8.49666182e-05 9.99980323e-01 7.91602577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.011858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.60, Y:64.39, Z:0.79 [[ 5.15010545e-01 -8.57177464e-01 -3.30658805e-03 1.16603476e+02] [ 8.57160891e-01 5.15021153e-01 -5.33096811e-03 6.43926421e+01] [ 6.27254851e-03 -8.87731609e-05 9.99980323e-01 7.93600506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.62, Y:64.42, Z:0.79 [[ 5.16178979e-01 -8.56474266e-01 -3.33084499e-03 1.16621141e+02] [ 8.56457775e-01 5.16189714e-01 -5.31592788e-03 6.44184709e+01] [ 6.27230335e-03 -1.08757867e-04 9.99980323e-01 7.93344401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.071858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:116.63, Y:64.44, Z:0.79 [[ 5.13859710e-01 -8.57867642e-01 -3.36256892e-03 1.16632658e+02] [ 8.57851308e-01 5.13870686e-01 -5.29626307e-03 6.44434611e+01] [ 6.27141831e-03 -1.63047937e-04 9.99980321e-01 7.93769469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:116.65, Y:64.47, Z:0.79 [[ 5.16236412e-01 -8.56439647e-01 -3.33141487e-03 1.16650414e+02] [ 8.56423158e-01 5.16247149e-01 -5.31555494e-03 6.44691636e+01] [ 6.27228543e-03 -1.09017831e-04 9.99980323e-01 7.92736081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.66, Y:64.50, Z:0.79 [[ 5.16257886e-01 -8.56426472e-01 -3.39001897e-03 1.16663390e+02] [ 8.56410219e-01 5.16268986e-01 -5.27923434e-03 6.44957839e+01] [ 6.27143770e-03 -1.77800528e-04 9.99980319e-01 7.91604408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:116.68, Y:64.52, Z:0.79 [[ 5.15141269e-01 -8.57098506e-01 -3.40923848e-03 1.16678105e+02] [ 8.57082346e-01 5.15152508e-01 -5.26732136e-03 6.45223040e+01] [ 6.27089103e-03 -2.08583504e-04 9.99980316e-01 7.93379528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.191858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.68, Y:64.54, Z:0.79 [[ 5.08418408e-01 -8.61103340e-01 -3.42926306e-03 1.16679682e+02] [ 8.61087352e-01 5.08429896e-01 -5.25490955e-03 6.45432981e+01] [ 6.26856002e-03 -2.81202296e-04 9.99980313e-01 7.94291591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:116.69, Y:64.57, Z:0.79 [[ 5.07478089e-01 -8.61658339e-01 -3.30085285e-03 1.16692971e+02] [ 8.61641838e-01 5.07488805e-01 -5.33431610e-03 6.45676563e+01] [ 6.27150382e-03 -1.37104377e-04 9.99980325e-01 7.93747993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.71, Y:64.59, Z:0.79 [[ 5.06557457e-01 -8.62199900e-01 -3.29786997e-03 1.16706278e+02] [ 8.62183398e-01 5.06568172e-01 -5.33615958e-03 6.45928852e+01] [ 6.27143222e-03 -1.40297314e-04 9.99980325e-01 7.93153235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:64.62, Z:0.79 [[ 5.05480215e-01 -8.62831899e-01 -3.29642423e-03 1.16717294e+02] [ 8.62815405e-01 5.05490942e-01 -5.33705254e-03 6.46194308e+01] [ 6.27129177e-03 -1.46431146e-04 9.99980325e-01 7.93457442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.73, Y:64.64, Z:0.79 [[ 5.05457462e-01 -8.62845234e-01 -3.29492866e-03 1.16729860e+02] [ 8.62828734e-01 5.05468181e-01 -5.33797570e-03 6.46441534e+01] [ 6.27132849e-03 -1.44839476e-04 9.99980325e-01 7.93326212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:64.67, Z:0.79 [[ 5.05729759e-01 -8.62685670e-01 -3.29344043e-03 1.16742611e+02] [ 8.62669161e-01 5.05740463e-01 -5.33889376e-03 6.46689349e+01] [ 6.27141322e-03 -1.41112039e-04 9.99980325e-01 7.93404705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.75, Y:64.69, Z:0.79 [[ 5.07281158e-01 -8.61774327e-01 -3.29195085e-03 1.16753871e+02] [ 8.61757792e-01 5.07291823e-01 -5.33981207e-03 6.46946912e+01] [ 6.27169270e-03 -1.28078249e-04 9.99980325e-01 7.93616408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.77, Y:64.72, Z:0.79 [[ 5.07037351e-01 -8.61917802e-01 -3.29044036e-03 1.16768807e+02] [ 8.61901265e-01 5.07048011e-01 -5.34074269e-03 6.47190514e+01] [ 6.27169244e-03 -1.28078683e-04 9.99980325e-01 7.93795075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:64.74, Z:0.79 [[ 5.07597484e-01 -8.61588056e-01 -3.28892923e-03 1.16782141e+02] [ 8.61571505e-01 5.07608124e-01 -5.34167311e-03 6.47446163e+01] [ 6.27180894e-03 -1.22227877e-04 9.99980325e-01 7.92445640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.81, Y:64.77, Z:0.79 [[ 5.13627257e-01 -8.58007114e-01 -3.29155761e-03 1.16806239e+02] [ 8.57990500e-01 5.13637797e-01 -5.34005543e-03 6.47730203e+01] [ 6.27247395e-03 -8.13271373e-05 9.99980325e-01 7.93402830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.81, Y:64.79, Z:0.79 [[ 5.08049617e-01 -8.61320998e-01 -3.42422331e-03 1.16806493e+02] [ 8.61304990e-01 5.08061081e-01 -5.25858536e-03 6.47942991e+01] [ 6.26904458e-03 -2.77678342e-04 9.99980311e-01 7.93760579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.82, Y:64.82, Z:0.79 [[ 5.09293975e-01 -8.60586377e-01 -3.27626699e-03 1.16817800e+02] [ 8.60569758e-01 5.09304504e-01 -5.34920536e-03 6.48207528e+01] [ 6.27207080e-03 -9.51382294e-05 9.99980326e-01 7.93448515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:64.84, Z:0.79 [[ 5.09532024e-01 -8.60445462e-01 -3.27478376e-03 1.16830691e+02] [ 8.60428833e-01 5.09542539e-01 -5.35011324e-03 6.48446170e+01] [ 6.27212229e-03 -9.16643446e-05 9.99980326e-01 7.92922801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.84, Y:64.87, Z:0.79 [[ 5.09586782e-01 -8.60413037e-01 -3.27378593e-03 1.16844632e+02] [ 8.60396404e-01 5.09597290e-01 -5.35072375e-03 6.48690247e+01] [ 6.27214491e-03 -9.00955461e-05 9.99980326e-01 7.93270717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:64.90, Z:0.79 [[ 5.17568769e-01 -8.55635355e-01 -3.27232682e-03 1.16874642e+02] [ 8.55618619e-01 5.17579113e-01 -5.35161595e-03 6.48983310e+01] [ 6.27271982e-03 -3.00344724e-05 9.99980326e-01 7.89774643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.641858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.87, Y:64.92, Z:0.79 [[ 5.10836220e-01 -8.59671098e-01 -3.45835256e-03 1.16872383e+02] [ 8.59655194e-01 5.10847840e-01 -5.23757232e-03 6.49180125e+01] [ 6.26928148e-03 -2.97449099e-04 9.99980304e-01 7.94569631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:64.94, Z:0.80 [[ 5.11109108e-01 -8.59509619e-01 -3.27026547e-03 1.16886000e+02] [ 8.59492956e-01 5.11119564e-01 -5.35248999e-03 6.49424072e+01] [ 6.27201329e-03 -7.50637574e-05 9.99980328e-01 7.96545269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:64.97, Z:0.80 [[ 5.12242579e-01 -8.58834591e-01 -3.26882200e-03 1.16899298e+02] [ 8.58817909e-01 5.12253005e-01 -5.35337139e-03 6.49685069e+01] [ 6.27212442e-03 -6.50981078e-05 9.99980328e-01 7.99576337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.731858064 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:116.91, Y:64.99, Z:0.80 [[ 5.12912006e-01 -8.58434970e-01 -3.26751095e-03 1.16912687e+02] [ 8.58418274e-01 5.12922411e-01 -5.35417148e-03 6.49921988e+01] [ 6.27218763e-03 -5.86722728e-05 9.99980328e-01 7.98394735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.761858064 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:116.94, Y:65.02, Z:0.80 [[ 5.20793715e-01 -8.53676308e-01 -3.26617777e-03 1.16941382e+02] [ 8.53659512e-01 5.20803957e-01 -5.35498463e-03 6.50200372e+01] [ 6.27246182e-03 6.38614711e-07 9.99980328e-01 7.99912415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.94, Y:65.04, Z:0.80 [[ 5.14108908e-01 -8.57718063e-01 -3.42858875e-03 1.16940383e+02] [ 8.57701994e-01 5.14120285e-01 -5.25571367e-03 6.50398905e+01] [ 6.27062758e-03 -2.38698196e-04 9.99980311e-01 7.98673688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.95, Y:65.06, Z:0.80 [[ 5.15048391e-01 -8.57154887e-01 -3.26423719e-03 1.16954258e+02] [ 8.57138155e-01 5.15058733e-01 -5.35588080e-03 6.50639933e+01] [ 6.27209327e-03 -3.93644482e-05 9.99980329e-01 8.00920133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.97, Y:65.09, Z:0.80 [[ 5.15416464e-01 -8.56933617e-01 -3.26276355e-03 1.16967713e+02] [ 8.56916874e-01 5.15426790e-01 -5.35677838e-03 6.50877302e+01] [ 6.27211921e-03 -3.49453678e-05 9.99980329e-01 8.01526449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.98, Y:65.11, Z:0.80 [[ 5.15685821e-01 -8.56771554e-01 -3.26175720e-03 1.16981194e+02] [ 8.56754804e-01 5.15696135e-01 -5.35739108e-03 6.51123089e+01] [ 6.27213586e-03 -3.17955390e-05 9.99980329e-01 8.02473406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:65.14, Z:0.80 [[ 5.16076229e-01 -8.56536453e-01 -3.26027308e-03 1.16994632e+02] [ 8.56519694e-01 5.16086527e-01 -5.35829410e-03 6.51367583e+01] [ 6.27215723e-03 -2.71998840e-05 9.99980329e-01 8.03109755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.01, Y:65.16, Z:0.80 [[ 5.16837996e-01 -8.56077021e-01 -3.25876551e-03 1.17007843e+02] [ 8.56060247e-01 5.16848269e-01 -5.35921081e-03 6.51614023e+01] [ 6.27218453e-03 -1.98558293e-05 9.99980329e-01 8.02492406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:65.18, Z:0.80 [[ 5.16828029e-01 -8.56083041e-01 -3.25822144e-03 1.17021761e+02] [ 8.56066264e-01 5.16838299e-01 -5.35954156e-03 6.51843788e+01] [ 6.27218626e-03 -1.92921526e-05 9.99980329e-01 8.02429979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.04, Y:65.21, Z:0.80 [[ 5.16793125e-01 -8.56104117e-01 -3.25688598e-03 1.17036672e+02] [ 8.56087335e-01 5.16803387e-01 -5.36035297e-03 6.52084486e+01] [ 6.27218995e-03 -1.79852790e-05 9.99980329e-01 8.04010345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:65.23, Z:0.80 [[ 5.16651834e-01 -8.56189398e-01 -3.25538442e-03 1.17050463e+02] [ 8.56172612e-01 5.16662090e-01 -5.36126473e-03 6.52322173e+01] [ 6.27219173e-03 -1.72637245e-05 9.99980329e-01 8.04590901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:65.26, Z:0.80 [[ 5.16292217e-01 -8.56406303e-01 -3.25439978e-03 1.17064305e+02] [ 8.56389518e-01 5.16302474e-01 -5.36186235e-03 6.52567439e+01] [ 6.27218737e-03 -1.87460604e-05 9.99980329e-01 8.04847342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.08, Y:65.28, Z:0.80 [[ 5.15555650e-01 -8.56849923e-01 -3.25290380e-03 1.17078555e+02] [ 8.56833141e-01 5.15565911e-01 -5.36276977e-03 6.52817388e+01] [ 6.27217518e-03 -2.23895299e-05 9.99980329e-01 8.01996507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.10, Y:65.31, Z:0.80 [[ 5.19170299e-01 -8.54664582e-01 -3.26390038e-03 1.17100912e+02] [ 8.54647799e-01 5.19180559e-01 -5.35610288e-03 6.53078262e+01] [ 6.27222505e-03 -8.75574190e-06 9.99980329e-01 8.01629831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.11, Y:65.33, Z:0.81 [[ 5.13931610e-01 -8.57824647e-01 -3.34303207e-03 1.17109158e+02] [ 8.57808235e-01 5.13942464e-01 -5.30809628e-03 6.53287423e+01] [ 6.27154196e-03 -1.39681970e-04 9.99980324e-01 8.05724145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.11, Y:65.35, Z:0.80 [[ 5.04431554e-01 -8.63445571e-01 -3.24857394e-03 1.17110231e+02] [ 8.63428907e-01 5.04442005e-01 -5.36528882e-03 6.53489169e+01] [ 6.27135202e-03 -9.84916652e-05 9.99980330e-01 7.97299898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:65.38, Z:0.80 [[ 5.09181992e-01 -8.60653361e-01 -3.08065267e-03 1.17136308e+02] [ 8.60636014e-01 5.09191294e-01 -5.46594561e-03 6.53769709e+01] [ 6.27292599e-03 1.31840436e-04 9.99980316e-01 8.04731296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.15, Y:65.40, Z:0.81 [[ 5.08290247e-01 -8.61179767e-01 -3.22997478e-03 1.17150950e+02] [ 8.61162987e-01 5.08300507e-01 -5.37627552e-03 6.54000990e+01] [ 6.27173752e-03 -4.88263187e-05 9.99980331e-01 8.08290711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.16, Y:65.42, Z:0.80 [[ 5.02839517e-01 -8.64373765e-01 -3.22722893e-03 1.17156786e+02] [ 8.64357039e-01 5.02849866e-01 -5.37792327e-03 6.54221036e+01] [ 6.27134742e-03 -8.52456945e-05 9.99980331e-01 7.99748661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.18, Y:65.45, Z:0.81 [[ 5.08602089e-01 -8.60996043e-01 -3.11923007e-03 1.17181750e+02] [ 8.60978844e-01 5.08611647e-01 -5.44260972e-03 6.54482203e+01] [ 6.27254217e-03 8.25315719e-05 9.99980324e-01 8.07680926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.20, Y:65.47, Z:0.81 [[ 5.10376384e-01 -8.59945025e-01 -3.24033173e-03 1.17197925e+02] [ 8.59928260e-01 5.10386669e-01 -5.36996722e-03 6.54720417e+01] [ 6.27169871e-03 -4.57483711e-05 9.99980332e-01 8.08023288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.21, Y:65.50, Z:0.81 [[ 5.11914330e-01 -8.59030387e-01 -3.24237150e-03 1.17213964e+02] [ 8.59013611e-01 5.11924596e-01 -5.36874436e-03 6.54957776e+01] [ 6.27176427e-03 -3.69040814e-05 9.99980332e-01 8.09065065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.23, Y:65.52, Z:0.81 [[ 5.12651178e-01 -8.58590817e-01 -3.25259666e-03 1.17226894e+02] [ 8.58574071e-01 5.12661494e-01 -5.36261571e-03 6.55178562e+01] [ 6.27177367e-03 -4.34438969e-05 9.99980331e-01 8.09287783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:65.54, Z:0.81 [[ 5.13636465e-01 -8.58001865e-01 -3.22204170e-03 1.17241590e+02] [ 8.57984992e-01 5.13646570e-01 -5.38091175e-03 6.55410949e+01] [ 6.27182299e-03 -6.30931240e-07 9.99980332e-01 8.09245054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.451858064 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:117.26, Y:65.56, Z:0.80 [[ 5.15739494e-01 -8.56739400e-01 -3.22104965e-03 1.17256512e+02] [ 8.56722498e-01 5.15749552e-01 -5.38150553e-03 6.55638664e+01] [ 6.27180273e-03 1.59092300e-05 9.99980332e-01 8.03330511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.27, Y:65.59, Z:0.81 [[ 5.15559304e-01 -8.56847881e-01 -3.21137861e-03 1.17273771e+02] [ 8.56830945e-01 5.15569305e-01 -5.38729261e-03 6.55904783e+01] [ 6.27177850e-03 2.58602606e-05 9.99980332e-01 8.10770643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:65.61, Z:0.81 [[ 5.17866127e-01 -8.55455485e-01 -3.25381118e-03 1.17290199e+02] [ 8.55438680e-01 5.17876349e-01 -5.36199237e-03 6.56101444e+01] [ 6.27201764e-03 -6.64172146e-06 9.99980331e-01 8.07225713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:65.64, Z:0.81 [[ 5.16768598e-01 -8.56119036e-01 -3.22677324e-03 1.17307046e+02] [ 8.56102144e-01 5.16778671e-01 -5.37809977e-03 6.56358581e+01] [ 6.27182118e-03 1.67855924e-05 9.99980332e-01 8.11656549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:65.66, Z:0.81 [[ 5.15901244e-01 -8.56641860e-01 -3.26045601e-03 1.17318268e+02] [ 8.56625103e-01 5.15911546e-01 -5.35803707e-03 6.56566804e+01] [ 6.27202574e-03 -2.87704760e-05 9.99980330e-01 8.09677303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:65.68, Z:0.81 [[ 5.14919231e-01 -8.57232700e-01 -3.20683876e-03 1.17328006e+02] [ 8.57215755e-01 5.14929216e-01 -5.38993761e-03 6.56766760e+01] [ 6.27172574e-03 2.64298241e-05 9.99980332e-01 8.05201561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:65.70, Z:0.81 [[ 5.17385192e-01 -8.55746817e-01 -3.15405237e-03 1.17352120e+02] [ 8.55729650e-01 5.17394795e-01 -5.42140317e-03 6.57031719e+01] [ 6.27123878e-03 1.05937585e-04 9.99980330e-01 8.11274650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.36, Y:65.72, Z:0.81 [[ 5.14306473e-01 -8.57600323e-01 -3.24610371e-03 1.17360997e+02] [ 8.57583533e-01 5.14316717e-01 -5.36654080e-03 6.57246771e+01] [ 6.27187253e-03 -2.37584129e-05 9.99980331e-01 8.05853084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.691858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:117.38, Y:65.75, Z:0.81 [[ 5.17953446e-01 -8.55403025e-01 -3.14531426e-03 1.17382283e+02] [ 8.55385821e-01 5.17962982e-01 -5.42650061e-03 6.57501293e+01] [ 6.27100139e-03 1.20217474e-04 9.99980330e-01 8.11595031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:65.77, Z:0.81 [[ 5.18514126e-01 -8.55063016e-01 -3.21567976e-03 1.17399976e+02] [ 8.55046062e-01 5.18524095e-01 -5.38460014e-03 6.57736566e+01] [ 6.27157987e-03 4.24369172e-05 9.99980333e-01 8.11129497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.42, Y:65.80, Z:0.81 [[ 5.18526690e-01 -8.55055364e-01 -3.22416469e-03 1.17415928e+02] [ 8.55038442e-01 5.18536713e-01 -5.37955016e-03 6.57972398e+01] [ 6.27166099e-03 3.26555897e-05 9.99980332e-01 8.10123715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:65.82, Z:0.81 [[ 5.17726712e-01 -8.55539964e-01 -3.22819093e-03 1.17430120e+02] [ 8.55523066e-01 5.17736776e-01 -5.37715510e-03 6.58200317e+01] [ 6.27172425e-03 2.21050230e-05 9.99980332e-01 8.08502274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.45, Y:65.84, Z:0.81 [[ 5.18873235e-01 -8.54845190e-01 -3.20434021e-03 1.17448327e+02] [ 8.54828190e-01 5.18883126e-01 -5.39133387e-03 6.58425515e+01] [ 6.27143389e-03 5.82585021e-05 9.99980333e-01 8.10236637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.47, Y:65.87, Z:0.81 [[ 5.18006686e-01 -8.55370539e-01 -3.21164303e-03 1.17467186e+02] [ 8.55353577e-01 5.18016640e-01 -5.38699448e-03 6.58677975e+01] [ 6.27156090e-03 4.34088084e-05 9.99980333e-01 8.12015353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.871858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:117.49, Y:65.89, Z:0.81 [[ 5.19002175e-01 -8.54766745e-01 -3.24855324e-03 1.17485766e+02] [ 8.54749908e-01 5.19012342e-01 -5.36505348e-03 6.58891605e+01] [ 6.27190853e-03 7.77384253e-06 9.99980331e-01 8.05871438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.50, Y:65.91, Z:0.81 [[ 5.14749771e-01 -8.57334283e-01 -3.25579159e-03 1.17499113e+02] [ 8.57317524e-01 5.14760066e-01 -5.36076298e-03 6.59145347e+01] [ 6.27191738e-03 -3.17956655e-05 9.99980331e-01 8.13799346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.931858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:117.51, Y:65.94, Z:0.81 [[ 5.11852927e-01 -8.59067042e-01 -3.22474074e-03 1.17514846e+02] [ 8.59050201e-01 5.11863085e-01 -5.37912147e-03 6.59355425e+01] [ 6.27165171e-03 -1.68951137e-05 9.99980333e-01 8.09911151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.53, Y:65.96, Z:0.81 [[ 5.12434123e-01 -8.58720585e-01 -3.19793404e-03 1.17529753e+02] [ 8.58703638e-01 5.12444101e-01 -5.39496124e-03 6.59574830e+01] [ 6.27152671e-03 1.84846422e-05 9.99980334e-01 8.11595143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:65.98, Z:0.81 [[ 5.08028896e-01 -8.61334206e-01 -3.16628615e-03 1.17539178e+02] [ 8.61317194e-01 5.08038763e-01 -5.41365002e-03 6.59795391e+01] [ 6.27155804e-03 2.31139464e-05 9.99980333e-01 8.07761447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:117.56, Y:66.01, Z:0.81 [[ 5.08000734e-01 -8.61351057e-01 -3.10005670e-03 1.17563748e+02] [ 8.61333804e-01 5.08010183e-01 -5.45272547e-03 6.60050693e+01] [ 6.27157122e-03 9.98049154e-05 9.99980329e-01 8.10352742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:66.03, Z:0.81 [[ 5.07293621e-01 -8.61767419e-01 -3.17776626e-03 1.17580566e+02] [ 8.61750457e-01 5.07303574e-01 -5.40684899e-03 6.60276730e+01] [ 6.27153848e-03 4.41847145e-06 9.99980334e-01 8.10951479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.081858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.60, Y:66.05, Z:0.81 [[ 5.06564977e-01 -8.62195962e-01 -3.16972817e-03 1.17598923e+02] [ 8.62178979e-01 5.06574894e-01 -5.41159226e-03 6.60511671e+01] [ 6.27155770e-03 8.45010995e-06 9.99980334e-01 8.13664646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.111858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:117.62, Y:66.07, Z:0.81 [[ 5.03469123e-01 -8.64007329e-01 -3.19034799e-03 1.17615957e+02] [ 8.63990458e-01 5.03479229e-01 -5.39942651e-03 6.60730395e+01] [ 6.27141803e-03 -3.79856963e-05 9.99980334e-01 8.12191298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.141858064 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:117.63, Y:66.10, Z:0.81 [[ 5.00906248e-01 -8.65495732e-01 -3.17309012e-03 1.17630230e+02] [ 8.65478827e-01 5.00916297e-01 -5.40960119e-03 6.60958677e+01] [ 6.27143929e-03 -3.65392762e-05 9.99980334e-01 8.09187749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.171858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:117.65, Y:66.12, Z:0.81 [[ 5.00104168e-01 -8.65959501e-01 -3.15640055e-03 1.17645835e+02] [ 8.65942543e-01 5.00114129e-01 -5.41942687e-03 6.61183888e+01] [ 6.27156470e-03 -2.29835516e-05 9.99980333e-01 8.09599946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.201858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:117.67, Y:66.14, Z:0.82 [[ 5.02579348e-01 -8.64525367e-01 -3.14460345e-03 1.17668621e+02] [ 8.64508337e-01 5.02589186e-01 -5.42637187e-03 6.61414576e+01] [ 6.27167982e-03 8.64653798e-06 9.99980333e-01 8.16610412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.231858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:117.68, Y:66.16, Z:0.81 [[ 5.00548551e-01 -8.65702567e-01 -3.19571869e-03 1.17680881e+02] [ 8.65685751e-01 5.00558748e-01 -5.39627433e-03 6.61635821e+01] [ 6.27121349e-03 -6.53908326e-05 9.99980334e-01 8.12419495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.261858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:117.70, Y:66.19, Z:0.81 [[ 5.00381089e-01 -8.65799518e-01 -3.15621271e-03 1.17695306e+02] [ 8.65782556e-01 5.00391042e-01 -5.41951262e-03 6.61882277e+01] [ 6.27155198e-03 -2.07722859e-05 9.99980333e-01 8.12581351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.291858064 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:117.72, Y:66.21, Z:0.81 [[ 5.02521563e-01 -8.64558919e-01 -3.15498134e-03 1.17717281e+02] [ 8.64541928e-01 5.02531467e-01 -5.42023582e-03 6.62134710e+01] [ 6.27159062e-03 -3.82827017e-06 9.99980333e-01 8.14880291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321858064 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:117.73, Y:66.24, Z:0.82 [[ 5.00867678e-01 -8.65517820e-01 -3.23612223e-03 1.17731814e+02] [ 8.65501152e-01 5.00878120e-01 -5.37255802e-03 6.62354841e+01] [ 6.27094753e-03 -1.09926859e-04 9.99980331e-01 8.16751238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.351858064 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:117.75, Y:66.26, Z:0.82 [[ 5.01138542e-01 -8.65361156e-01 -3.19857616e-03 1.17746357e+02] [ 8.65344344e-01 5.01148746e-01 -5.39456663e-03 6.62580435e+01] [ 6.27121085e-03 -6.44445323e-05 9.99980334e-01 8.16315945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381858064 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:117.76, Y:66.28, Z:0.81 [[ 5.00213508e-01 -8.65896265e-01 -3.17868861e-03 1.17759885e+02] [ 8.65879389e-01 5.00223606e-01 -5.40621697e-03 6.62814863e+01] [ 6.27127816e-03 -4.80981920e-05 9.99980334e-01 8.13429906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.411858064 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:117.78, Y:66.30, Z:0.82 [[ 5.01666183e-01 -8.65055528e-01 -3.15825708e-03 1.17778862e+02] [ 8.65038560e-01 5.01676124e-01 -5.41817832e-03 6.63043589e+01] [ 6.27144728e-03 -1.38973186e-05 9.99980334e-01 8.15987068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:117.79, Y:66.33, Z:0.82 [[ 5.01185935e-01 -8.65333827e-01 -3.16648903e-03 1.17793899e+02] [ 8.65316895e-01 5.01195937e-01 -5.41336139e-03 6.63271244e+01] [ 6.27139617e-03 -2.69158664e-05 9.99980334e-01 8.15946524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.471858064 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:117.81, Y:66.35, Z:0.82 [[ 5.00548857e-01 -8.65702498e-01 -3.16661942e-03 1.17809485e+02] [ 8.65685573e-01 5.00558872e-01 -5.41328512e-03 6.63504648e+01] [ 6.27137390e-03 -3.16830720e-05 9.99980334e-01 8.17192415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501858064 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:117.83, Y:66.37, Z:0.82 [[ 5.00106549e-01 -8.65958095e-01 -3.16509191e-03 1.17825105e+02] [ 8.65941170e-01 5.00116563e-01 -5.41417810e-03 6.63734824e+01] [ 6.27136624e-03 -3.31174678e-05 9.99980334e-01 8.17835507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.531858064 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:117.84, Y:66.40, Z:0.82 [[ 5.00022505e-01 -8.66006610e-01 -3.16946922e-03 1.17840249e+02] [ 8.65989703e-01 5.00032548e-01 -5.41161996e-03 6.63956814e+01] [ 6.27133643e-03 -3.87959345e-05 9.99980334e-01 8.18293999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561858064 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:117.86, Y:66.42, Z:0.82 [[ 4.99350599e-01 -8.66394245e-01 -3.16104282e-03 1.17858288e+02] [ 8.66377313e-01 4.99360603e-01 -5.41654280e-03 6.64183660e+01] [ 6.27136176e-03 -3.39018937e-05 9.99980334e-01 8.18505800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.591858064 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:117.87, Y:66.44, Z:0.82 [[ 4.98905661e-01 -8.66650528e-01 -3.16296470e-03 1.17874214e+02] [ 8.66633609e-01 4.98915686e-01 -5.41542029e-03 6.64421160e+01] [ 6.27132956e-03 -3.93476729e-05 9.99980334e-01 8.18743499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621858064 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:117.89, Y:66.47, Z:0.82 [[ 4.98916720e-01 -8.66644167e-01 -3.16146577e-03 1.17889458e+02] [ 8.66627242e-01 4.98926735e-01 -5.41629521e-03 6.64657338e+01] [ 6.27134045e-03 -3.75321182e-05 9.99980334e-01 8.19362562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.651858064 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:117.91, Y:66.49, Z:0.82 [[ 4.98820165e-01 -8.66699762e-01 -3.15687229e-03 1.17906163e+02] [ 8.66682821e-01 4.98830153e-01 -5.41897510e-03 6.64898297e+01] [ 6.27136752e-03 -3.29129235e-05 9.99980334e-01 8.18336847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:117.92, Y:66.51, Z:0.82 [[ 4.98836829e-01 -8.66690161e-01 -3.15958373e-03 1.17921111e+02] [ 8.66673231e-01 4.98846834e-01 -5.41739371e-03 6.65126005e+01] [ 6.27135017e-03 -3.59311394e-05 9.99980334e-01 8.18045055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.711858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:117.94, Y:66.54, Z:0.82 [[ 4.99184101e-01 -8.66490196e-01 -3.15823643e-03 1.17936594e+02] [ 8.66473256e-01 4.99194091e-01 -5.41817904e-03 6.65358668e+01] [ 6.27137198e-03 -3.18585679e-05 9.99980334e-01 8.18849965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:117.95, Y:66.56, Z:0.82 [[ 5.00475063e-01 -8.65745197e-01 -3.15671980e-03 1.17951792e+02] [ 8.65728237e-01 5.00485018e-01 -5.41906252e-03 6.65580841e+01] [ 6.27141831e-03 -2.07558091e-05 9.99980334e-01 8.18924730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77185806399999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:117.97, Y:66.58, Z:0.82 [[ 5.01155028e-01 -8.65351767e-01 -3.15534476e-03 1.17965871e+02] [ 8.65334795e-01 5.01164961e-01 -5.41986304e-03 6.65811895e+01] [ 6.27143629e-03 -1.42380006e-05 9.99980334e-01 8.19443667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.97, Y:66.60, Z:0.82 [[ 4.97601030e-01 -8.67400292e-01 -3.15402488e-03 1.17973320e+02] [ 8.67383356e-01 4.97611024e-01 -5.42063102e-03 6.66024351e+01] [ 6.27133448e-03 -3.84371059e-05 9.99980334e-01 8.16714696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.831858064 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:118.00, Y:66.63, Z:0.82 [[ 5.02167534e-01 -8.64764948e-01 -3.05809664e-03 1.17995070e+02] [ 8.64747614e-01 5.02176834e-01 -5.47636364e-03 6.66290928e+01] [ 6.27147261e-03 1.05570254e-04 9.99980329e-01 8.19569355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:66.65, Z:0.82 [[ 5.02222592e-01 -8.64732632e-01 -3.15320861e-03 1.18010658e+02] [ 8.64715640e-01 5.02232491e-01 -5.42104075e-03 6.66524609e+01] [ 6.27139465e-03 -4.05966296e-06 9.99980335e-01 8.20209236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.03, Y:66.68, Z:0.82 [[ 5.01837258e-01 -8.64956319e-01 -3.15169522e-03 1.18025067e+02] [ 8.64939325e-01 5.01847155e-01 -5.42192046e-03 6.66760851e+01] [ 6.27139364e-03 -5.10343381e-06 9.99980335e-01 8.20156375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.04, Y:66.70, Z:0.82 [[ 5.01734284e-01 -8.65016060e-01 -3.15018047e-03 1.18039273e+02] [ 8.64999062e-01 5.01744174e-01 -5.42280040e-03 6.66992586e+01] [ 6.27139413e-03 -4.09827608e-06 9.99980335e-01 8.19835734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.951858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:118.05, Y:66.72, Z:0.82 [[ 5.02684934e-01 -8.64463962e-01 -3.14881542e-03 1.18053576e+02] [ 8.64446948e-01 5.02694796e-01 -5.42359292e-03 6.67232085e+01] [ 6.27139375e-03 4.37456507e-06 9.99980335e-01 8.20546361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.981858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:118.07, Y:66.75, Z:0.82 [[ 5.03031500e-01 -8.64262347e-01 -3.14733136e-03 1.18066193e+02] [ 8.64245324e-01 5.03041346e-01 -5.42445399e-03 6.67466792e+01] [ 6.27138914e-03 8.60482125e-06 9.99980335e-01 8.20994181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.011858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:118.08, Y:66.77, Z:0.82 [[ 5.03316228e-01 -8.64096567e-01 -3.14598658e-03 1.18079606e+02] [ 8.64079536e-01 5.03326060e-01 -5.42523380e-03 6.67716846e+01] [ 6.27138293e-03 1.22255904e-05 9.99980335e-01 8.21531696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.041858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.09, Y:66.80, Z:0.82 [[ 5.03270365e-01 -8.64123285e-01 -3.14449122e-03 1.18091532e+02] [ 8.64106249e-01 5.03280189e-01 -5.42610038e-03 6.67972815e+01] [ 6.27137982e-03 1.36210071e-05 9.99980335e-01 8.21391051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:66.82, Z:0.82 [[ 5.03375695e-01 -8.64061937e-01 -3.14300027e-03 1.18104609e+02] [ 8.64044895e-01 5.03385506e-01 -5.42696386e-03 6.68209488e+01] [ 6.27137369e-03 1.61083653e-05 9.99980335e-01 8.21505684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.12, Y:66.85, Z:0.82 [[ 5.02697279e-01 -8.64456823e-01 -3.13786910e-03 1.18118978e+02] [ 8.64439770e-01 5.02707072e-01 -5.42993435e-03 6.68461494e+01] [ 6.27137279e-03 1.71143819e-05 9.99980335e-01 8.21617862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:66.87, Z:0.82 [[ 5.01876700e-01 -8.64933472e-01 -3.14128909e-03 1.18132611e+02] [ 8.64916440e-01 5.01886531e-01 -5.42795512e-03 6.68697151e+01] [ 6.27139075e-03 7.21163439e-06 9.99980335e-01 8.21104301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.15, Y:66.90, Z:0.82 [[ 4.99389529e-01 -8.66371896e-01 -3.13643420e-03 1.18147212e+02] [ 8.66354874e-01 4.99399378e-01 -5.43076297e-03 6.68956042e+01] [ 6.27139370e-03 -5.19890064e-06 9.99980335e-01 8.20053202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.16, Y:66.92, Z:0.82 [[ 4.98779115e-01 -8.66723400e-01 -3.15327892e-03 1.18160510e+02] [ 8.66706447e-01 4.98789081e-01 -5.42103401e-03 6.69187397e+01] [ 6.27135813e-03 -2.90686249e-05 9.99980334e-01 8.22006221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:66.94, Z:0.82 [[ 4.97741506e-01 -8.67319762e-01 -3.13441278e-03 1.18173956e+02] [ 8.67302752e-01 4.97751375e-01 -5.43192045e-03 6.69421309e+01] [ 6.27137022e-03 -1.47925636e-05 9.99980335e-01 8.21779790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:66.97, Z:0.82 [[ 4.96774339e-01 -8.67874092e-01 -3.13306419e-03 1.18187607e+02] [ 8.67857089e-01 4.96784218e-01 -5.43269820e-03 6.69666623e+01] [ 6.27135486e-03 -2.02269107e-05 9.99980335e-01 8.22054739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.20, Y:66.99, Z:0.82 [[ 4.96123289e-01 -8.68246437e-01 -3.13155848e-03 1.18199883e+02] [ 8.68229435e-01 4.96133171e-01 -5.43356599e-03 6.69902939e+01] [ 6.27134435e-03 -2.31926276e-05 9.99980335e-01 8.21499750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.311858064 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:118.21, Y:67.01, Z:0.82 [[ 4.94610279e-01 -8.69109340e-01 -3.10259738e-03 1.18213073e+02] [ 8.69092251e-01 4.94620010e-01 -5.45023374e-03 6.70145458e+01] [ 6.27145580e-03 -7.01714547e-07 9.99980334e-01 8.22009092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:67.04, Z:0.82 [[ 4.92975766e-01 -8.70037501e-01 -3.10509883e-03 1.18228251e+02] [ 8.70020439e-01 4.92985545e-01 -5.44879463e-03 6.70408778e+01] [ 6.27142450e-03 -1.53757400e-05 9.99980334e-01 8.21279329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.24, Y:67.07, Z:0.82 [[ 4.89665445e-01 -8.71904795e-01 -3.12731968e-03 1.18242640e+02] [ 8.71887852e-01 4.89675427e-01 -5.43601105e-03 6.70651479e+01] [ 6.27105570e-03 -6.48452630e-05 9.99980335e-01 8.23409400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:67.09, Z:0.82 [[ 4.87979346e-01 -8.72849579e-01 -3.12566384e-03 1.18256373e+02] [ 8.72832649e-01 4.87989351e-01 -5.43696297e-03 6.70885309e+01] [ 6.27094151e-03 -7.50558094e-05 9.99980335e-01 8.23665243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:67.11, Z:0.82 [[ 4.86557355e-01 -8.73643050e-01 -3.12430455e-03 1.18270798e+02] [ 8.73626131e-01 4.86567379e-01 -5.43774396e-03 6.71127063e+01] [ 6.27083190e-03 -8.36997778e-05 9.99980335e-01 8.24183814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:67.14, Z:0.82 [[ 4.85183257e-01 -8.74406916e-01 -3.12280252e-03 1.18284726e+02] [ 8.74390007e-01 4.85193298e-01 -5.43860642e-03 6.71363978e+01] [ 6.27071792e-03 -9.18265411e-05 9.99980335e-01 8.23828936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:67.16, Z:0.82 [[ 4.84660052e-01 -8.74697028e-01 -3.12145639e-03 1.18297869e+02] [ 8.74680120e-01 4.84670094e-01 -5.43937891e-03 6.71610056e+01] [ 6.27068513e-03 -9.40261905e-05 9.99980335e-01 8.23673285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.31, Y:67.19, Z:0.82 [[ 4.84800511e-01 -8.74619192e-01 -3.11996019e-03 1.18313501e+02] [ 8.74602277e-01 4.84810541e-01 -5.44023698e-03 6.71875079e+01] [ 6.27072526e-03 -9.12946237e-05 9.99980335e-01 8.23458556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.551858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:118.32, Y:67.21, Z:0.82 [[ 4.84605224e-01 -8.74727298e-01 -3.15125462e-03 1.18323308e+02] [ 8.74710502e-01 4.84615453e-01 -5.42228719e-03 6.72103032e+01] [ 6.27016931e-03 -1.28766811e-04 9.99980334e-01 8.23280425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:67.24, Z:0.82 [[ 4.85432266e-01 -8.74268720e-01 -3.11782091e-03 1.18335544e+02] [ 8.74251790e-01 4.85442271e-01 -5.44144393e-03 6.72359696e+01] [ 6.27080629e-03 -8.43080556e-05 9.99980335e-01 8.23770794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.35, Y:67.26, Z:0.82 [[ 4.85895621e-01 -8.74011290e-01 -3.11632020e-03 1.18348765e+02] [ 8.73994349e-01 4.85905607e-01 -5.44230326e-03 6.72604910e+01] [ 6.27087195e-03 -7.92549261e-05 9.99980335e-01 8.24639295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.37, Y:67.29, Z:0.82 [[ 4.88120947e-01 -8.72770439e-01 -3.11480656e-03 1.18367429e+02] [ 8.72753467e-01 4.88130881e-01 -5.44316942e-03 6.72870820e+01] [ 6.27107064e-03 -6.15332109e-05 9.99980335e-01 8.24384582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:67.31, Z:0.82 [[ 4.89261113e-01 -8.72131559e-01 -3.17914142e-03 1.18380982e+02] [ 8.72114812e-01 4.89271425e-01 -5.40630860e-03 6.73121316e+01] [ 6.27047540e-03 -1.27479761e-04 9.99980332e-01 8.24657286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.701858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.39, Y:67.33, Z:0.83 [[ 4.87028434e-01 -8.73380238e-01 -3.20393791e-03 1.18386962e+02] [ 8.73363610e-01 4.87038942e-01 -5.39209740e-03 6.73342284e+01] [ 6.26979384e-03 -1.72098024e-04 9.99980330e-01 8.26133255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:67.36, Z:0.83 [[ 4.86612531e-01 -8.73612356e-01 -3.11386159e-03 1.18399347e+02] [ 8.73595399e-01 4.86622488e-01 -5.44362290e-03 6.73585165e+01] [ 6.27089130e-03 -7.13200429e-05 9.99980335e-01 8.25372201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:67.38, Z:0.82 [[ 4.85197276e-01 -8.74399175e-01 -3.11231649e-03 1.18411363e+02] [ 8.74382228e-01 4.85207251e-01 -5.44450615e-03 6.73835444e+01] [ 6.27079021e-03 -7.96946789e-05 9.99980335e-01 8.24356133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.791858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:118.42, Y:67.41, Z:0.82 [[ 4.84167654e-01 -8.74969717e-01 -3.11087049e-03 1.18424926e+02] [ 8.74952776e-01 4.84177641e-01 -5.44533224e-03 6.74079463e+01] [ 6.27071474e-03 -8.54110314e-05 9.99980335e-01 8.24513786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:67.43, Z:0.82 [[ 4.82771165e-01 -8.75741020e-01 -3.10938594e-03 1.18438558e+02] [ 8.75724090e-01 4.82781169e-01 -5.44617981e-03 6.74323689e+01] [ 6.27059604e-03 -9.37055977e-05 9.99980335e-01 8.24877202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.45, Y:67.46, Z:0.83 [[ 4.81781795e-01 -8.76285709e-01 -3.10783701e-03 1.18454777e+02] [ 8.76268784e-01 4.81791809e-01 -5.44706356e-03 6.74582269e+01] [ 6.27051436e-03 -9.90044991e-05 9.99980335e-01 8.25151744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.47, Y:67.48, Z:0.83 [[ 4.80574746e-01 -8.76948171e-01 -3.13337751e-03 1.18465486e+02] [ 8.76931355e-01 4.80584941e-01 -5.43249289e-03 6.74805874e+01] [ 6.26986875e-03 -1.37038101e-04 9.99980335e-01 8.25982411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.48, Y:67.51, Z:0.83 [[ 4.80777249e-01 -8.76837294e-01 -3.09771523e-03 1.18480062e+02] [ 8.76820345e-01 4.80787219e-01 -5.45282323e-03 6.75069342e+01] [ 6.27058065e-03 -9.45463807e-05 9.99980335e-01 8.26395227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.49, Y:67.53, Z:0.82 [[ 4.79113502e-01 -8.77747400e-01 -3.12325764e-03 1.18489392e+02] [ 8.77730563e-01 4.79123663e-01 -5.43826805e-03 6.75313692e+01] [ 6.26985227e-03 -1.35831034e-04 9.99980335e-01 8.23658969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.971858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.50, Y:67.56, Z:0.82 [[ 4.79197705e-01 -8.77701582e-01 -3.08110045e-03 1.18498431e+02] [ 8.77684589e-01 4.79207602e-01 -5.46226716e-03 6.75564735e+01] [ 6.27072728e-03 -8.67284980e-05 9.99980335e-01 8.21763519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:67.58, Z:0.82 [[ 4.82470525e-01 -8.75906938e-01 -3.03770710e-03 1.18516565e+02] [ 8.75889752e-01 4.82480088e-01 -5.48694833e-03 6.75832950e+01] [ 6.27168930e-03 -1.34056798e-05 9.99980333e-01 8.24035187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:67.61, Z:0.82 [[ 4.82221958e-01 -8.76043635e-01 -3.08762940e-03 1.18528416e+02] [ 8.76026632e-01 4.82231837e-01 -5.45853613e-03 6.76077052e+01] [ 6.27086903e-03 -7.26196055e-05 9.99980335e-01 8.23191352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:67.63, Z:0.82 [[ 4.83054659e-01 -8.75584822e-01 -3.06847515e-03 1.18542654e+02] [ 8.75567741e-01 4.83064403e-01 -5.46942227e-03 6.76333671e+01] [ 6.27121424e-03 -4.46279445e-05 9.99980335e-01 8.24073371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:67.66, Z:0.83 [[ 4.87113650e-01 -8.73333166e-01 -3.07777095e-03 1.18557685e+02] [ 8.73316073e-01 4.87123372e-01 -5.46414161e-03 6.76584651e+01] [ 6.27127026e-03 -2.62088782e-05 9.99980335e-01 8.27844389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:67.68, Z:0.83 [[ 4.88118007e-01 -8.72772144e-01 -3.09760851e-03 1.18570272e+02] [ 8.72755111e-01 4.88127834e-01 -5.45287251e-03 6.76825451e+01] [ 6.27114417e-03 -4.18083975e-05 9.99980335e-01 8.28229037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.151858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:118.58, Y:67.71, Z:0.83 [[ 4.88943652e-01 -8.72309875e-01 -3.09625754e-03 1.18583605e+02] [ 8.72292828e-01 4.88953454e-01 -5.45363951e-03 6.77083324e+01] [ 6.27118942e-03 -3.43208238e-05 9.99980335e-01 8.28442089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.60, Y:67.73, Z:0.83 [[ 4.89905486e-01 -8.71770024e-01 -3.10480772e-03 1.18595350e+02] [ 8.71752996e-01 4.89915323e-01 -5.44878742e-03 6.77322263e+01] [ 6.27118242e-03 -3.72345829e-05 9.99980335e-01 8.28533187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:67.76, Z:0.83 [[ 4.89667221e-01 -8.71903919e-01 -3.09341231e-03 1.18609379e+02] [ 8.71886853e-01 4.89676991e-01 -5.45524922e-03 6.77571371e+01] [ 6.27122600e-03 -2.58487962e-05 9.99980335e-01 8.28707365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:67.78, Z:0.83 [[ 4.90777876e-01 -8.71279241e-01 -3.09192117e-03 1.18621025e+02] [ 8.71262158e-01 4.90787615e-01 -5.45609423e-03 6.77820147e+01] [ 6.27125826e-03 -1.61435770e-05 9.99980335e-01 8.28508650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:67.81, Z:0.83 [[ 4.90540481e-01 -8.71412924e-01 -3.09057417e-03 1.18634021e+02] [ 8.71395839e-01 4.90550217e-01 -5.45685713e-03 6.78063265e+01] [ 6.27125766e-03 -1.63041488e-05 9.99980335e-01 8.28505989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.65, Y:67.83, Z:0.83 [[ 4.90651432e-01 -8.71350462e-01 -3.08925218e-03 1.18649124e+02] [ 8.71333371e-01 4.90661157e-01 -5.45760543e-03 6.78322513e+01] [ 6.27126307e-03 -1.39865943e-05 9.99980335e-01 8.26479721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:67.86, Z:0.83 [[ 4.89564387e-01 -8.71961611e-01 -3.10815294e-03 1.18662065e+02] [ 8.71944599e-01 4.89574251e-01 -5.44691026e-03 6.78566150e+01] [ 6.27116829e-03 -4.35238875e-05 9.99980335e-01 8.25544930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:67.88, Z:0.83 [[ 4.89181380e-01 -8.72176566e-01 -3.10075879e-03 1.18676940e+02] [ 8.72159532e-01 4.89191206e-01 -5.45109133e-03 6.78820972e+01] [ 6.27117804e-03 -3.77839559e-05 9.99980335e-01 8.26059682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:67.91, Z:0.83 [[ 4.88109060e-01 -8.72777106e-01 -3.10936261e-03 1.18688791e+02] [ 8.72760115e-01 4.88118961e-01 -5.44622866e-03 6.79054089e+01] [ 6.27108254e-03 -5.53741173e-05 9.99980335e-01 8.29041041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.421858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.70, Y:67.93, Z:0.83 [[ 4.87363621e-01 -8.73193675e-01 -3.08345955e-03 1.18701909e+02] [ 8.73176599e-01 4.87373374e-01 -5.46085477e-03 6.79296287e+01] [ 6.27117993e-03 -3.09827751e-05 9.99980335e-01 8.29479714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.72, Y:67.95, Z:0.83 [[ 4.86602993e-01 -8.73617781e-01 -3.08208505e-03 1.18715521e+02] [ 8.73600709e-01 4.86612753e-01 -5.46163042e-03 6.79542161e+01] [ 6.27115934e-03 -3.48659732e-05 9.99980335e-01 8.30379945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:67.98, Z:0.83 [[ 4.86040099e-01 -8.73931080e-01 -3.08053935e-03 1.18729550e+02] [ 8.73914009e-01 4.86049860e-01 -5.46250211e-03 6.79789837e+01] [ 6.27114609e-03 -3.71314294e-05 9.99980335e-01 8.30667024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:68.00, Z:0.83 [[ 4.85521055e-01 -8.74219552e-01 -3.07898845e-03 1.18743117e+02] [ 8.74202481e-01 4.85530816e-01 -5.46337615e-03 6.80024942e+01] [ 6.27113402e-03 -3.90751911e-05 9.99980335e-01 8.30590061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:68.03, Z:0.83 [[ 4.84354916e-01 -8.74866186e-01 -3.07759009e-03 1.18756222e+02] [ 8.74849124e-01 4.84364691e-01 -5.46416375e-03 6.80264110e+01] [ 6.27108807e-03 -4.58324169e-05 9.99980335e-01 8.30693830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:68.05, Z:0.83 [[ 4.82161903e-01 -8.76076729e-01 -3.07621287e-03 1.18770707e+02] [ 8.76059686e-01 4.82171713e-01 -5.46493899e-03 6.80511806e+01] [ 6.27096870e-03 -5.99606940e-05 9.99980335e-01 8.31204981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:68.07, Z:0.83 [[ 4.81118579e-01 -8.76650115e-01 -3.08024286e-03 1.18784567e+02] [ 8.76633098e-01 4.81128434e-01 -5.46267118e-03 6.80746123e+01] [ 6.27084375e-03 -7.20502453e-05 9.99980335e-01 8.31025963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:68.10, Z:0.83 [[ 4.79390236e-01 -8.77596462e-01 -3.07429748e-03 1.18799269e+02] [ 8.77579443e-01 4.79400087e-01 -5.46601509e-03 6.80996273e+01] [ 6.27077399e-03 -7.75860123e-05 9.99980335e-01 8.32451406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.81, Y:68.12, Z:0.83 [[ 4.79247003e-01 -8.77674638e-01 -3.08861654e-03 1.18812966e+02] [ 8.77657673e-01 4.79256946e-01 -5.45796473e-03 6.81227638e+01] [ 6.27055815e-03 -9.50347619e-05 9.99980335e-01 8.32341572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:68.15, Z:0.83 [[ 4.77729467e-01 -8.78501633e-01 -3.07197775e-03 1.18826956e+02] [ 8.78484624e-01 4.77739336e-01 -5.46731374e-03 6.81476057e+01] [ 6.27064866e-03 -8.67883406e-05 9.99980336e-01 8.33257956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.84, Y:68.17, Z:0.83 [[ 4.76408680e-01 -8.79218597e-01 -3.07045790e-03 1.18840659e+02] [ 8.79201598e-01 4.76418565e-01 -5.46816716e-03 6.81732831e+01] [ 6.27053741e-03 -9.44691943e-05 9.99980336e-01 8.33985009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.751858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.85, Y:68.20, Z:0.83 [[ 4.76161804e-01 -8.79352266e-01 -3.08678680e-03 1.18853153e+02] [ 8.79335329e-01 4.76171795e-01 -5.45900396e-03 6.81971336e+01] [ 6.27022832e-03 -1.14951510e-04 9.99980335e-01 8.32360382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:68.22, Z:0.83 [[ 4.74877974e-01 -8.80046308e-01 -3.06668823e-03 1.18865953e+02] [ 8.80029313e-01 4.74887866e-01 -5.47027142e-03 6.82217777e+01] [ 6.27042520e-03 -1.01064126e-04 9.99980336e-01 8.30397002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.88, Y:68.25, Z:0.83 [[ 4.73977239e-01 -8.80531761e-01 -3.06514141e-03 1.18879195e+02] [ 8.80514769e-01 4.73987138e-01 -5.47113800e-03 6.82451903e+01] [ 6.27034839e-03 -1.05707399e-04 9.99980336e-01 8.29938619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.89, Y:68.27, Z:0.83 [[ 4.72721296e-01 -8.81206667e-01 -3.06375942e-03 1.18892927e+02] [ 8.81189685e-01 4.72731210e-01 -5.47191179e-03 6.82702525e+01] [ 6.27021985e-03 -1.13063968e-04 9.99980336e-01 8.30139246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.871858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.91, Y:68.29, Z:0.83 [[ 4.70540530e-01 -8.82373069e-01 -3.06221914e-03 1.18905731e+02] [ 8.82356106e-01 4.70550477e-01 -5.47277363e-03 6.82945570e+01] [ 6.26995674e-03 -1.26805952e-04 9.99980336e-01 8.30316915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.92, Y:68.32, Z:0.83 [[ 4.69442373e-01 -8.82957807e-01 -3.06082885e-03 1.18918851e+02] [ 8.82940852e-01 4.69452333e-01 -5.47355109e-03 6.83188163e+01] [ 6.26982791e-03 -1.33014023e-04 9.99980336e-01 8.30282932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:68.34, Z:0.83 [[ 4.68865126e-01 -8.83264475e-01 -3.05945706e-03 1.18932337e+02] [ 8.83247521e-01 4.68875089e-01 -5.47431775e-03 6.83435936e+01] [ 6.26977359e-03 -1.35541180e-04 9.99980336e-01 8.29635340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:118.95, Y:68.37, Z:0.83 [[ 4.71671162e-01 -8.81769270e-01 -3.04467799e-03 1.18952392e+02] [ 8.81752230e-01 4.71680979e-01 -5.48257216e-03 6.83688002e+01] [ 6.27048035e-03 -9.86804259e-05 9.99980335e-01 8.27861184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:68.39, Z:0.83 [[ 4.68279913e-01 -8.83574655e-01 -3.12287260e-03 1.18959095e+02] [ 8.83557941e-01 4.68290278e-01 -5.43885836e-03 6.83925631e+01] [ 6.26804827e-03 -2.12330761e-04 9.99980333e-01 8.30147061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:68.42, Z:0.83 [[ 4.68647608e-01 -8.83379951e-01 -3.04663283e-03 1.18972269e+02] [ 8.83362953e-01 4.68657495e-01 -5.48142107e-03 6.84178475e+01] [ 6.27000478e-03 -1.22427704e-04 9.99980336e-01 8.29814562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.051858064 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:118.98, Y:68.44, Z:0.83 [[ 4.69699456e-01 -8.82821142e-01 -3.04172527e-03 1.18984379e+02] [ 8.82804115e-01 4.69709292e-01 -5.48415854e-03 6.84416266e+01] [ 6.27025773e-03 -1.09341303e-04 9.99980336e-01 8.27889007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.081858064 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:119.00, Y:68.47, Z:0.83 [[ 4.71579890e-01 -8.81818171e-01 -3.02007832e-03 1.18996605e+02] [ 8.81801045e-01 4.71589555e-01 -5.49622145e-03 6.84662030e+01] [ 6.27090533e-03 -7.12007074e-05 9.99980335e-01 8.28048386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.111858064 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:119.02, Y:68.49, Z:0.83 [[ 4.71968792e-01 -8.81610076e-01 -3.02198107e-03 1.19015027e+02] [ 8.81592953e-01 4.71978462e-01 -5.49516166e-03 6.84940337e+01] [ 6.27089986e-03 -7.06123996e-05 9.99980335e-01 8.27398562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.141858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:119.02, Y:68.51, Z:0.83 [[ 4.73157469e-01 -8.80972343e-01 -3.12106481e-03 1.19022605e+02] [ 8.80955564e-01 4.73167730e-01 -5.43995281e-03 6.85136233e+01] [ 6.26923512e-03 -1.75565107e-04 9.99980333e-01 8.28967989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.171858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.04, Y:68.54, Z:0.83 [[ 4.74453481e-01 -8.80275397e-01 -3.02000518e-03 1.19036920e+02] [ 8.80258240e-01 4.74463089e-01 -5.49614164e-03 6.85384869e+01] [ 6.27099924e-03 -5.07209131e-05 9.99980336e-01 8.27920371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:68.56, Z:0.83 [[ 4.75283054e-01 -8.79827673e-01 -3.04695379e-03 1.19050234e+02] [ 8.79810603e-01 4.75292815e-01 -5.48116102e-03 6.85631676e+01] [ 6.27067239e-03 -7.56392966e-05 9.99980336e-01 8.29815080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:68.58, Z:0.83 [[ 4.78856407e-01 -8.77887958e-01 -3.04551481e-03 1.19062299e+02] [ 8.77870843e-01 4.78866090e-01 -5.48196045e-03 6.85839669e+01] [ 6.27094083e-03 -4.84967645e-05 9.99980336e-01 8.30127703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:68.61, Z:0.83 [[ 4.81513982e-01 -8.76433285e-01 -2.99713152e-03 1.19079658e+02] [ 8.76415972e-01 4.81523309e-01 -5.50885544e-03 6.86116981e+01] [ 6.27133296e-03 2.58569847e-05 9.99980335e-01 8.29119432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.291858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.09, Y:68.64, Z:0.83 [[ 4.79906503e-01 -8.77314256e-01 -3.07320242e-03 1.19089927e+02] [ 8.77297228e-01 4.79916338e-01 -5.46658236e-03 6.86365313e+01] [ 6.27079069e-03 -7.26635409e-05 9.99980336e-01 8.28835604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:68.66, Z:0.83 [[ 4.81187024e-01 -8.76612677e-01 -3.04338096e-03 1.19105322e+02] [ 8.76595529e-01 4.81196647e-01 -5.48313459e-03 6.86607819e+01] [ 6.27105000e-03 -2.94009285e-05 9.99980336e-01 8.28958278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.351858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.12, Y:68.68, Z:0.83 [[ 4.81858118e-01 -8.76243880e-01 -3.06861729e-03 1.19116918e+02] [ 8.76226814e-01 4.81867886e-01 -5.46912746e-03 6.86844745e+01] [ 6.27095760e-03 -5.34612862e-05 9.99980336e-01 8.29486853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.381858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.13, Y:68.71, Z:0.83 [[ 4.82429995e-01 -8.75929265e-01 -3.03702090e-03 1.19129584e+02] [ 8.75912081e-01 4.82439554e-01 -5.48664639e-03 6.87079129e+01] [ 6.27109315e-03 -1.32405053e-05 9.99980336e-01 8.29386701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:68.73, Z:0.83 [[ 4.81487799e-01 -8.76447599e-01 -3.01751864e-03 1.19145349e+02] [ 8.76430358e-01 4.81497254e-01 -5.49744956e-03 6.87349748e+01] [ 6.27115340e-03 2.30994912e-06 9.99980336e-01 8.27058928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.16, Y:68.76, Z:0.83 [[ 4.80164547e-01 -8.77173121e-01 -3.05333099e-03 1.19157944e+02] [ 8.77156020e-01 4.80174253e-01 -5.47762145e-03 6.87593108e+01] [ 6.27095323e-03 -4.80880284e-05 9.99980336e-01 8.26170235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.471858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:119.17, Y:68.78, Z:0.83 [[ 4.79023326e-01 -8.77796886e-01 -3.04634025e-03 1.19172377e+02] [ 8.77779773e-01 4.79033010e-01 -5.48149004e-03 6.87834074e+01] [ 6.27093243e-03 -4.82542615e-05 9.99980336e-01 8.26291066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.501858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.19, Y:68.81, Z:0.83 [[ 4.80403325e-01 -8.77042436e-01 -3.03492257e-03 1.19189939e+02] [ 8.77025267e-01 4.80412911e-01 -5.48780424e-03 6.88083496e+01] [ 6.27105319e-03 -2.53443773e-05 9.99980336e-01 8.27099355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.531858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.20, Y:68.83, Z:0.83 [[ 4.77313217e-01 -8.78727929e-01 -3.05295520e-03 1.19201395e+02] [ 8.78710857e-01 4.77322976e-01 -5.47783556e-03 6.88325290e+01] [ 6.27077275e-03 -6.80215717e-05 9.99980336e-01 8.27735667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:68.86, Z:0.83 [[ 4.76599299e-01 -8.79115417e-01 -3.03183369e-03 1.19215138e+02] [ 8.79098279e-01 4.76608940e-01 -5.48950090e-03 6.88559715e+01] [ 6.27090391e-03 -4.89874911e-05 9.99980336e-01 8.27257638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.591858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.23, Y:68.88, Z:0.83 [[ 4.74744950e-01 -8.80118219e-01 -3.02552277e-03 1.19229504e+02] [ 8.80101079e-01 4.74754587e-01 -5.49298465e-03 6.88803566e+01] [ 6.27085668e-03 -5.49991286e-05 9.99980336e-01 8.26989835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.24, Y:68.90, Z:0.83 [[ 4.74621391e-01 -8.80184842e-01 -3.02970181e-03 1.19243306e+02] [ 8.80167718e-01 4.74631057e-01 -5.49067870e-03 6.89038825e+01] [ 6.27080274e-03 -6.06521671e-05 9.99980336e-01 8.26799965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:68.93, Z:0.83 [[ 4.72768280e-01 -8.81181659e-01 -3.00622435e-03 1.19258575e+02] [ 8.81164473e-01 4.72777835e-01 -5.50362076e-03 6.89273588e+01] [ 6.27096592e-03 -4.70407768e-05 9.99980336e-01 8.26578707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:68.95, Z:0.83 [[ 4.74817223e-01 -8.80079261e-01 -3.01639492e-03 1.19279566e+02] [ 8.80062089e-01 4.74826802e-01 -5.49801788e-03 6.89544626e+01] [ 6.27095667e-03 -4.40612336e-05 9.99980336e-01 8.26530915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:68.98, Z:0.83 [[ 4.74235978e-01 -8.80392343e-01 -3.09204429e-03 1.19292898e+02] [ 8.80375444e-01 4.74246038e-01 -5.45647305e-03 6.89786383e+01] [ 6.27022685e-03 -1.34504028e-04 9.99980333e-01 8.27908538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:69.00, Z:0.83 [[ 4.73862459e-01 -8.80593516e-01 -3.07084763e-03 1.19307900e+02] [ 8.80576545e-01 4.73872396e-01 -5.46809826e-03 6.90040581e+01] [ 6.27036179e-03 -1.12989909e-04 9.99980335e-01 8.26827854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:69.03, Z:0.83 [[ 4.73284373e-01 -8.80904310e-01 -3.08199624e-03 1.19319796e+02] [ 8.80887386e-01 4.73294390e-01 -5.46198609e-03 6.90270380e+01] [ 6.27017862e-03 -1.29818949e-04 9.99980334e-01 8.26602627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:69.05, Z:0.83 [[ 4.72710309e-01 -8.81212590e-01 -3.05526591e-03 1.19336034e+02] [ 8.81195578e-01 4.72720172e-01 -5.47661880e-03 6.90541523e+01] [ 6.27035126e-03 -1.03432643e-04 9.99980336e-01 8.28289178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.831858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:119.34, Y:69.07, Z:0.83 [[ 4.70146992e-01 -8.82582648e-01 -3.11055421e-03 1.19342716e+02] [ 8.82565863e-01 4.70157245e-01 -5.44627047e-03 6.90736815e+01] [ 6.26923341e-03 -1.84721283e-04 9.99980331e-01 8.28208177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.36, Y:69.10, Z:0.83 [[ 4.68539053e-01 -8.83437701e-01 -2.99746298e-03 1.19358116e+02] [ 8.83420532e-01 4.68548636e-01 -5.50816868e-03 6.90974026e+01] [ 6.27058106e-03 -6.72282038e-05 9.99980337e-01 8.28695655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:69.12, Z:0.83 [[ 4.69883508e-01 -8.82723302e-01 -3.01016203e-03 1.19378366e+02] [ 8.82706163e-01 4.69893144e-01 -5.50122000e-03 6.91236749e+01] [ 6.27050958e-03 -7.21560268e-05 9.99980338e-01 8.30807389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:69.14, Z:0.83 [[ 4.68454927e-01 -8.83482035e-01 -3.07833472e-03 1.19388309e+02] [ 8.83465154e-01 4.68465013e-01 -5.46379319e-03 6.91441702e+01] [ 6.26925524e-03 -1.60060625e-04 9.99980335e-01 8.31147469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:69.17, Z:0.83 [[ 4.68781418e-01 -8.83309081e-01 -3.00817184e-03 1.19401798e+02] [ 8.83291947e-01 4.68791064e-01 -5.50224657e-03 6.91682800e+01] [ 6.27038844e-03 -7.77430074e-05 9.99980338e-01 8.30287632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:69.19, Z:0.83 [[ 4.69157612e-01 -8.83109348e-01 -3.00237779e-03 1.19415285e+02] [ 8.83092190e-01 4.69167214e-01 -5.50542039e-03 6.91926620e+01] [ 6.27050543e-03 -6.84664972e-05 9.99980338e-01 8.28740532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.011858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.43, Y:69.22, Z:0.83 [[ 4.69407770e-01 -8.82976387e-01 -3.00744765e-03 1.19429329e+02] [ 8.82959244e-01 4.69417399e-01 -5.50264448e-03 6.92184742e+01] [ 6.27045340e-03 -7.24696218e-05 9.99980338e-01 8.29444917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:69.24, Z:0.83 [[ 4.71497073e-01 -8.81862470e-01 -3.01579881e-03 1.19442832e+02] [ 8.81845333e-01 4.71506713e-01 -5.49807452e-03 6.92422763e+01] [ 6.27051496e-03 -6.71420648e-05 9.99980338e-01 8.29765874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:69.27, Z:0.83 [[ 4.71227044e-01 -8.82006826e-01 -3.00512505e-03 1.19455941e+02] [ 8.81989655e-01 4.71236623e-01 -5.50391070e-03 6.92665708e+01] [ 6.27061179e-03 -5.68976350e-05 9.99980338e-01 8.29934094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.101858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:119.47, Y:69.29, Z:0.83 [[ 4.71271019e-01 -8.81983335e-01 -3.00376327e-03 1.19469368e+02] [ 8.81966159e-01 4.71280588e-01 -5.50465481e-03 6.92920743e+01] [ 6.27062913e-03 -5.50332726e-05 9.99980338e-01 8.29201395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.48, Y:69.32, Z:0.83 [[ 4.71417291e-01 -8.81905121e-01 -3.01586893e-03 1.19483619e+02] [ 8.81887985e-01 4.71426933e-01 -5.49804157e-03 6.93163348e+01] [ 6.27051285e-03 -6.77867062e-05 9.99980338e-01 8.29964367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.161858064 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:119.50, Y:69.34, Z:0.83 [[ 4.71430440e-01 -8.81898064e-01 -3.02417937e-03 1.19496334e+02] [ 8.81880957e-01 4.71440133e-01 -5.49350024e-03 6.93402348e+01] [ 6.27042675e-03 -7.71629603e-05 9.99980338e-01 8.27417795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.191858064 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:119.51, Y:69.36, Z:0.83 [[ 4.71249072e-01 -8.81995025e-01 -3.01454432e-03 1.19509439e+02] [ 8.81977887e-01 4.71258709e-01 -5.49875920e-03 6.93643333e+01] [ 6.27050853e-03 -6.74762562e-05 9.99980338e-01 8.27810912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:69.39, Z:0.83 [[ 4.70232377e-01 -8.82537504e-01 -3.01095071e-03 1.19521745e+02] [ 8.82520364e-01 4.70242011e-01 -5.50071920e-03 6.93879962e+01] [ 6.27046651e-03 -7.06090559e-05 9.99980338e-01 8.27326075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.251858064 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:119.54, Y:69.41, Z:0.83 [[ 4.69515879e-01 -8.82918902e-01 -3.00875132e-03 1.19535342e+02] [ 8.82901762e-01 4.69525514e-01 -5.50191743e-03 6.94126575e+01] [ 6.27043240e-03 -7.31942406e-05 9.99980338e-01 8.27963413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:69.44, Z:0.83 [[ 4.67072347e-01 -8.84213958e-01 -3.01638726e-03 1.19546713e+02] [ 8.84196872e-01 4.67082077e-01 -5.49776272e-03 6.94355293e+01] [ 6.27009896e-03 -9.92272392e-05 9.99980338e-01 8.28145131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.56, Y:69.46, Z:0.83 [[ 4.67722136e-01 -8.83870560e-01 -2.97270611e-03 1.19562628e+02] [ 8.83853314e-01 4.67731581e-01 -5.52153308e-03 6.94604536e+01] [ 6.27074906e-03 -4.48929011e-05 9.99980338e-01 8.30030378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.341858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:119.58, Y:69.49, Z:0.83 [[ 4.66828568e-01 -8.84342724e-01 -3.00566671e-03 1.19575945e+02] [ 8.84325603e-01 4.66838236e-01 -5.50359368e-03 6.94856157e+01] [ 6.27022317e-03 -8.87532688e-05 9.99980338e-01 8.29007132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.371858064 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:119.59, Y:69.51, Z:0.83 [[ 4.65753381e-01 -8.84909494e-01 -2.99586484e-03 1.19589367e+02] [ 8.84892350e-01 4.65763009e-01 -5.50892414e-03 6.95107429e+01] [ 6.27026229e-03 -8.52178307e-05 9.99980338e-01 8.29122234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.401858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:119.60, Y:69.53, Z:0.83 [[ 4.65049129e-01 -8.85279750e-01 -3.01210286e-03 1.19601442e+02] [ 8.85262670e-01 4.65058871e-01 -5.50009722e-03 6.95326941e+01] [ 6.26992985e-03 -1.08686802e-04 9.99980338e-01 8.29302669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.61, Y:69.56, Z:0.83 [[ 4.63191923e-01 -8.86252948e-01 -2.99255595e-03 1.19613390e+02] [ 8.86235820e-01 4.63201579e-01 -5.51071205e-03 6.95578557e+01] [ 6.27004144e-03 -9.95929642e-05 9.99980338e-01 8.27870413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.63, Y:69.58, Z:0.83 [[ 4.64193318e-01 -8.85728863e-01 -2.99088336e-03 1.19626953e+02] [ 8.85711719e-01 4.64202944e-01 -5.51161968e-03 6.95811220e+01] [ 6.27017749e-03 -9.06034116e-05 9.99980338e-01 8.29261710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.63, Y:69.61, Z:0.83 [[ 4.61291045e-01 -8.87243840e-01 -2.98994763e-03 1.19634872e+02] [ 8.87226725e-01 4.61300721e-01 -5.51212725e-03 6.96068720e+01] [ 6.26986595e-03 -1.10066511e-04 9.99980338e-01 8.26534234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.65, Y:69.63, Z:0.83 [[ 4.61301975e-01 -8.87238279e-01 -2.95379441e-03 1.19649766e+02] [ 8.87221037e-01 4.61311426e-01 -5.53172400e-03 6.96331646e+01] [ 6.27057639e-03 -6.88733343e-05 9.99980337e-01 8.25977365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:69.66, Z:0.82 [[ 4.60148919e-01 -8.87836722e-01 -2.98777653e-03 1.19660794e+02] [ 8.87819611e-01 4.60158604e-01 -5.51330509e-03 6.96571523e+01] [ 6.26976580e-03 -1.15665220e-04 9.99980338e-01 8.24941109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.581858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:119.68, Y:69.68, Z:0.83 [[ 4.61326273e-01 -8.87225653e-01 -2.95150715e-03 1.19677795e+02] [ 8.87208402e-01 4.61335710e-01 -5.53294844e-03 6.96819580e+01] [ 6.27060944e-03 -6.61074578e-05 9.99980337e-01 8.27167367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.69, Y:69.71, Z:0.82 [[ 4.57672551e-01 -8.89115807e-01 -2.98626590e-03 1.19687424e+02] [ 8.89098718e-01 4.57682274e-01 -5.51412427e-03 6.97064159e+01] [ 6.26945602e-03 -1.31421862e-04 9.99980338e-01 8.24924741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.70, Y:69.73, Z:0.82 [[ 4.57278328e-01 -8.89318689e-01 -2.96636731e-03 1.19700745e+02] [ 8.89301534e-01 4.57287936e-01 -5.52489215e-03 6.97315404e+01] [ 6.26987383e-03 -1.11581553e-04 9.99980338e-01 8.24844422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.71, Y:69.76, Z:0.82 [[ 4.57869615e-01 -8.89014403e-01 -2.96769297e-03 1.19713621e+02] [ 8.88997246e-01 4.57879219e-01 -5.52417481e-03 6.97565647e+01] [ 6.26991591e-03 -1.08919087e-04 9.99980338e-01 8.24513474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.73, Y:69.78, Z:0.83 [[ 4.59667561e-01 -8.88086151e-01 -2.95327459e-03 1.19728108e+02] [ 8.88068925e-01 4.59677041e-01 -5.53197253e-03 6.97815828e+01] [ 6.27042071e-03 -7.98430722e-05 9.99980338e-01 8.26702698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.74, Y:69.81, Z:0.83 [[ 4.59372109e-01 -8.88238913e-01 -2.98318005e-03 1.19741019e+02] [ 8.88221794e-01 4.59381781e-01 -5.51579838e-03 6.98068739e+01] [ 6.26976532e-03 -1.15921602e-04 9.99980338e-01 8.26978744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.761858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:119.75, Y:69.83, Z:0.83 [[ 4.57896244e-01 -8.89000641e-01 -2.98161481e-03 1.19753237e+02] [ 8.88983533e-01 4.57905935e-01 -5.51664436e-03 6.98323360e+01] [ 6.26959948e-03 -1.24555732e-04 9.99980338e-01 8.26597119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:69.86, Z:0.83 [[ 4.57984008e-01 -8.88955381e-01 -2.99634466e-03 1.19764580e+02] [ 8.88938324e-01 4.57993788e-01 -5.50868654e-03 6.98570984e+01] [ 6.26928379e-03 -1.40675262e-04 9.99980338e-01 8.27939888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.821858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.78, Y:69.88, Z:0.83 [[ 4.57317645e-01 -8.89298432e-01 -2.97838244e-03 1.19777296e+02] [ 8.89281319e-01 4.57327327e-01 -5.51838112e-03 6.98823286e+01] [ 6.26958335e-03 -1.24966809e-04 9.99980338e-01 8.28343871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.79, Y:69.91, Z:0.83 [[ 4.55534366e-01 -8.90213221e-01 -2.97683533e-03 1.19789225e+02] [ 8.90196122e-01 4.55544073e-01 -5.51921556e-03 6.99081025e+01] [ 6.26935836e-03 -1.35774904e-04 9.99980338e-01 8.26597822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:69.93, Z:0.83 [[ 4.55709255e-01 -8.90123752e-01 -2.96328565e-03 1.19804119e+02] [ 8.90106603e-01 4.55718874e-01 -5.52651661e-03 6.99335485e+01] [ 6.26970890e-03 -1.19155358e-04 9.99980338e-01 8.29694600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.81, Y:69.96, Z:0.83 [[ 4.53764237e-01 -8.91116776e-01 -2.98490813e-03 1.19812684e+02] [ 8.91099724e-01 4.53774027e-01 -5.51486705e-03 6.99566461e+01] [ 6.26886432e-03 -1.57401372e-04 9.99980338e-01 8.26406838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.941858064 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:119.83, Y:69.98, Z:0.83 [[ 4.54756833e-01 -8.90610819e-01 -2.93116965e-03 1.19826469e+02] [ 8.90593569e-01 4.54766271e-01 -5.54372642e-03 6.99825029e+01] [ 6.27029981e-03 -8.94333665e-05 9.99980337e-01 8.29243699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.971858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:119.83, Y:70.01, Z:0.83 [[ 4.52380639e-01 -8.91820046e-01 -2.96035738e-03 1.19834811e+02] [ 8.91802923e-01 4.52390304e-01 -5.52804967e-03 7.00077088e+01] [ 6.26926248e-03 -1.39272723e-04 9.99980338e-01 8.26175442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.001858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.85, Y:70.03, Z:0.83 [[ 4.51504448e-01 -8.92264088e-01 -2.92089128e-03 1.19846130e+02] [ 8.92246836e-01 4.51513885e-01 -5.54933202e-03 7.00319050e+01] [ 6.27029264e-03 -1.00607917e-04 9.99980336e-01 8.25349409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.86, Y:70.06, Z:0.82 [[ 4.51741117e-01 -8.92144320e-01 -2.91143831e-03 1.19859254e+02] [ 8.92127033e-01 4.51750490e-01 -5.55442572e-03 7.00572611e+01] [ 6.27059303e-03 -8.82103433e-05 9.99980336e-01 8.24792340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:70.08, Z:0.82 [[ 4.50320874e-01 -8.92862011e-01 -2.92216892e-03 1.19871088e+02] [ 8.92844777e-01 4.50330341e-01 -5.54864317e-03 7.00826364e+01] [ 6.27011403e-03 -1.10373414e-04 9.99980337e-01 8.23527126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.88, Y:70.11, Z:0.82 [[ 4.48171791e-01 -8.93942687e-01 -2.91850161e-03 1.19881407e+02] [ 8.93925463e-01 4.48181278e-01 -5.55061869e-03 7.01065919e+01] [ 6.26995276e-03 -1.21292178e-04 9.99980336e-01 8.22764515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.90, Y:70.13, Z:0.83 [[ 4.50030162e-01 -8.93008664e-01 -2.89475880e-03 1.19899376e+02] [ 8.92991338e-01 4.50039464e-01 -5.56340169e-03 7.01339214e+01] [ 6.27092161e-03 -8.12959667e-05 9.99980334e-01 8.25227433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.151858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:119.91, Y:70.16, Z:0.83 [[ 4.50092573e-01 -8.92977024e-01 -2.95119293e-03 1.19912545e+02] [ 8.92959894e-01 4.50102225e-01 -5.53300938e-03 7.01593868e+01] [ 6.26918876e-03 -1.44930493e-04 9.99980338e-01 8.27571369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.92, Y:70.18, Z:0.83 [[ 4.49244733e-01 -8.93403789e-01 -2.97311749e-03 1.19924046e+02] [ 8.93386746e-01 4.49254537e-01 -5.52120320e-03 7.01835934e+01] [ 6.26835039e-03 -1.75772301e-04 9.99980338e-01 8.27938947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.94, Y:70.21, Z:0.83 [[ 4.48580493e-01 -8.93737495e-01 -2.97172642e-03 1.19936310e+02] [ 8.93720454e-01 4.48590300e-01 -5.52195183e-03 7.02089044e+01] [ 6.26826305e-03 -1.78852810e-04 9.99980338e-01 8.28397936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.95, Y:70.23, Z:0.83 [[ 4.48630912e-01 -8.93712192e-01 -2.97018860e-03 1.19947704e+02] [ 8.93695145e-01 4.48640709e-01 -5.52277888e-03 7.02337825e+01] [ 6.26832234e-03 -1.76753806e-04 9.99980338e-01 8.29459353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.96, Y:70.26, Z:0.83 [[ 4.47638973e-01 -8.94209448e-01 -2.96880548e-03 1.19957451e+02] [ 8.94192407e-01 4.47648780e-01 -5.52352229e-03 7.02591059e+01] [ 6.26816797e-03 -1.82139479e-04 9.99980338e-01 8.27871873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.301858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:119.97, Y:70.29, Z:0.83 [[ 4.51462082e-01 -8.92285452e-01 -2.94279708e-03 1.19974778e+02] [ 8.92268278e-01 4.51471655e-01 -5.53749410e-03 7.02863689e+01] [ 6.26961489e-03 -1.25795874e-04 9.99980338e-01 8.28773867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:70.31, Z:0.83 [[ 4.51697680e-01 -8.92166035e-01 -2.99525192e-03 1.19981376e+02] [ 8.92149043e-01 4.51707574e-01 -5.50932055e-03 7.03121714e+01] [ 6.26820664e-03 -1.83663820e-04 9.99980338e-01 8.29229887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.99, Y:70.34, Z:0.83 [[ 4.54261712e-01 -8.90863401e-01 -2.94925269e-03 1.19994633e+02] [ 8.90846219e-01 4.54271272e-01 -5.53400376e-03 7.03382726e+01] [ 6.26980218e-03 -1.13444583e-04 9.99980338e-01 8.30904903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:70.36, Z:0.83 [[ 4.55799100e-01 -8.90077744e-01 -2.96484983e-03 1.20006029e+02] [ 8.90060600e-01 4.55808727e-01 -5.52563491e-03 7.03635446e+01] [ 6.26964908e-03 -1.20316595e-04 9.99980338e-01 8.30803347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:70.39, Z:0.83 [[ 4.59830660e-01 -8.88001680e-01 -2.96333118e-03 1.20023286e+02] [ 8.87984487e-01 4.59840199e-01 -5.52644923e-03 7.03910347e+01] [ 6.27015500e-03 -9.01613217e-05 9.99980338e-01 8.28879086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.451858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.03, Y:70.42, Z:0.83 [[ 4.60151288e-01 -8.87835369e-01 -3.02480967e-03 1.20028956e+02] [ 8.87818388e-01 4.60161203e-01 -5.49346372e-03 7.04150314e+01] [ 6.26919145e-03 -1.57657241e-04 9.99980336e-01 8.30838783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.481858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.05, Y:70.44, Z:0.83 [[ 4.63103783e-01 -8.86299112e-01 -2.96141335e-03 1.20045208e+02] [ 8.86281878e-01 4.63113247e-01 -5.52742939e-03 7.04408107e+01] [ 6.27042551e-03 -6.48735239e-05 9.99980339e-01 8.29470883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:70.47, Z:0.83 [[ 4.62314610e-01 -8.86710896e-01 -2.99806109e-03 1.20052392e+02] [ 8.86693797e-01 4.62324317e-01 -5.50780129e-03 7.04665679e+01] [ 6.26990397e-03 -1.12025170e-04 9.99980338e-01 8.31082188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:70.49, Z:0.83 [[ 4.65718606e-01 -8.84927907e-01 -2.96293720e-03 1.20070085e+02] [ 8.84910651e-01 4.65728029e-01 -5.52659045e-03 7.04942038e+01] [ 6.27055702e-03 -4.80986785e-05 9.99980339e-01 8.29232507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.571858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.08, Y:70.52, Z:0.83 [[ 4.63548868e-01 -8.86066153e-01 -3.03625785e-03 1.20077136e+02] [ 8.86049174e-01 4.63558788e-01 -5.48734640e-03 7.05186558e+01] [ 6.26963593e-03 -1.46620550e-04 9.99980335e-01 8.32091004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:70.54, Z:0.83 [[ 4.63523556e-01 -8.86079605e-01 -2.97430441e-03 1.20088701e+02] [ 8.86062412e-01 4.63533092e-01 -5.52044325e-03 7.05444269e+01] [ 6.27024069e-03 -7.65638510e-05 9.99980339e-01 8.32915256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:70.57, Z:0.83 [[ 4.64416184e-01 -8.85612108e-01 -2.96667653e-03 1.20098665e+02] [ 8.85594879e-01 4.64425656e-01 -5.52451541e-03 7.05694012e+01] [ 6.27037843e-03 -6.15991736e-05 9.99980339e-01 8.34161717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.11, Y:70.59, Z:0.83 [[ 4.64673118e-01 -8.85477375e-01 -2.95155208e-03 1.20110477e+02] [ 8.85460092e-01 4.64682490e-01 -5.53258408e-03 7.05940207e+01] [ 6.27051260e-03 -4.26384803e-05 9.99980339e-01 8.34692929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:70.62, Z:0.84 [[ 4.64687337e-01 -8.85469918e-01 -2.95013374e-03 1.20122668e+02] [ 8.85452630e-01 4.64696700e-01 -5.53334028e-03 7.06194402e+01] [ 6.27052378e-03 -4.09305145e-05 9.99980339e-01 8.35215321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:70.64, Z:0.84 [[ 4.64913353e-01 -8.85351275e-01 -2.94855144e-03 1.20134206e+02] [ 8.85333979e-01 4.64922701e-01 -5.53418331e-03 7.06436538e+01] [ 6.27054475e-03 -3.75370583e-05 9.99980339e-01 8.35051229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:70.67, Z:0.83 [[ 4.64955960e-01 -8.85328905e-01 -2.94713187e-03 1.20144901e+02] [ 8.85311604e-01 4.64965299e-01 -5.53493918e-03 7.06696931e+01] [ 6.27055569e-03 -3.56270827e-05 9.99980339e-01 8.34200739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.16, Y:70.70, Z:0.83 [[ 4.66507165e-01 -8.84512515e-01 -2.94557386e-03 1.20160754e+02] [ 8.84495192e-01 4.66516464e-01 -5.53576819e-03 7.06961272e+01] [ 6.27061494e-03 -2.28703910e-05 9.99980339e-01 8.33682534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.17, Y:70.72, Z:0.83 [[ 4.64627414e-01 -8.85501257e-01 -2.98158631e-03 1.20169794e+02] [ 8.85484076e-01 4.64636974e-01 -5.51660073e-03 7.07198376e+01] [ 6.27031213e-03 -7.69832724e-05 9.99980338e-01 8.34993843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.841858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:120.18, Y:70.74, Z:0.84 [[ 4.63984101e-01 -8.85838635e-01 -2.94389882e-03 1.20182656e+02] [ 8.85821334e-01 4.63993438e-01 -5.53663964e-03 7.07448505e+01] [ 6.27051904e-03 -3.88556190e-05 9.99980339e-01 8.35387692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:70.77, Z:0.84 [[ 4.63069296e-01 -8.86317195e-01 -2.94236710e-03 1.20195113e+02] [ 8.86299897e-01 4.63078642e-01 -5.53745353e-03 7.07697729e+01] [ 6.27048764e-03 -4.35949507e-05 9.99980339e-01 8.36151890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.21, Y:70.79, Z:0.84 [[ 4.61764222e-01 -8.86997833e-01 -2.94080762e-03 1.20206547e+02] [ 8.86980544e-01 4.61773583e-01 -5.53828161e-03 7.07947909e+01] [ 6.27043106e-03 -5.10588420e-05 9.99980339e-01 8.35899287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.931858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.22, Y:70.82, Z:0.84 [[ 4.61084070e-01 -8.87351588e-01 -2.93941019e-03 1.20219047e+02] [ 8.87334302e-01 4.61093436e-01 -5.53902319e-03 7.08194878e+01] [ 6.27040376e-03 -5.42841330e-05 9.99980339e-01 8.36306651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:70.84, Z:0.84 [[ 4.60403309e-01 -8.87704997e-01 -2.93786426e-03 1.20231912e+02] [ 8.87687713e-01 4.60412678e-01 -5.53984302e-03 7.08443432e+01] [ 6.27037628e-03 -5.73439528e-05 9.99980339e-01 8.36610309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.25, Y:70.87, Z:0.84 [[ 4.60155993e-01 -8.87833227e-01 -2.93632016e-03 1.20245231e+02] [ 8.87815940e-01 4.60165358e-01 -5.54066133e-03 7.08696270e+01] [ 6.27037605e-03 -5.73433304e-05 9.99980339e-01 8.36788916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.26, Y:70.89, Z:0.84 [[ 4.59338076e-01 -8.88256674e-01 -2.93477638e-03 1.20258396e+02] [ 8.88239390e-01 4.59347448e-01 -5.54147891e-03 7.08948147e+01] [ 6.27033767e-03 -6.13717223e-05 9.99980339e-01 8.37503877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.27, Y:70.92, Z:0.84 [[ 4.58794541e-01 -8.88537543e-01 -2.93323685e-03 1.20270510e+02] [ 8.88520260e-01 4.58803913e-01 -5.54229371e-03 7.09193656e+01] [ 6.27031658e-03 -6.34662729e-05 9.99980339e-01 8.37598114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.28, Y:70.94, Z:0.84 [[ 4.58232299e-01 -8.88827635e-01 -2.93185125e-03 1.20282278e+02] [ 8.88810353e-01 4.58241674e-01 -5.54302659e-03 7.09445040e+01] [ 6.27029163e-03 -6.58659224e-05 9.99980339e-01 8.37745465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:70.97, Z:0.84 [[ 4.57784562e-01 -8.89058327e-01 -2.93034205e-03 1.20294587e+02] [ 8.89041044e-01 4.57793936e-01 -5.54382432e-03 7.09699988e+01] [ 6.27027599e-03 -6.73171679e-05 9.99980339e-01 8.38053384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:70.99, Z:0.84 [[ 4.55021569e-01 -8.90475600e-01 -2.92876885e-03 1.20304184e+02] [ 8.90458341e-01 4.55030987e-01 -5.54465530e-03 7.09949790e+01] [ 6.27006084e-03 -8.50088990e-05 9.99980339e-01 8.35045814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:71.02, Z:0.84 [[ 4.57110502e-01 -8.89405180e-01 -2.90079024e-03 1.20319836e+02] [ 8.89387806e-01 4.57119704e-01 -5.55942201e-03 7.10199542e+01] [ 6.27058711e-03 -3.86572795e-05 9.99980339e-01 8.38862104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.201858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.33, Y:71.04, Z:0.84 [[ 4.56643181e-01 -8.89645121e-01 -2.92638467e-03 1.20332649e+02] [ 8.89627838e-01 4.56652552e-01 -5.54591673e-03 7.10446245e+01] [ 6.27023879e-03 -7.08882097e-05 9.99980339e-01 8.38881907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.231858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.34, Y:71.07, Z:0.84 [[ 4.55957798e-01 -8.89996591e-01 -2.92481010e-03 1.20344698e+02] [ 8.89979309e-01 4.55967173e-01 -5.54674701e-03 7.10687312e+01] [ 6.27020332e-03 -7.39379211e-05 9.99980339e-01 8.38333795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.36, Y:71.09, Z:0.84 [[ 4.55662768e-01 -8.90147682e-01 -2.92339602e-03 1.20357547e+02] [ 8.90130399e-01 4.55672139e-01 -5.54749219e-03 7.10937122e+01] [ 6.27019744e-03 -7.44180201e-05 9.99980339e-01 8.38274373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:71.12, Z:0.84 [[ 4.55428076e-01 -8.90267786e-01 -2.92185352e-03 1.20370108e+02] [ 8.90250500e-01 4.55437442e-01 -5.54830450e-03 7.11182910e+01] [ 6.27019826e-03 -7.43279142e-05 9.99980339e-01 8.37582790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:71.14, Z:0.84 [[ 4.55703478e-01 -8.90126852e-01 -2.92032262e-03 1.20381832e+02] [ 8.90109557e-01 4.55712830e-01 -5.54911017e-03 7.11436637e+01] [ 6.27024045e-03 -7.06582707e-05 9.99980339e-01 8.37464554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:71.17, Z:0.84 [[ 4.55998635e-01 -8.89975688e-01 -2.91878467e-03 1.20394374e+02] [ 8.89958386e-01 4.56007972e-01 -5.54991900e-03 7.11686547e+01] [ 6.27028206e-03 -6.68414075e-05 9.99980339e-01 8.37304062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:71.19, Z:0.84 [[ 4.56427814e-01 -8.89755662e-01 -2.91756947e-03 1.20407091e+02] [ 8.89738351e-01 4.56437134e-01 -5.55055768e-03 7.11932719e+01] [ 6.27032717e-03 -6.24445444e-05 9.99980339e-01 8.37944281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:71.22, Z:0.84 [[ 4.57528420e-01 -8.89190218e-01 -2.91572278e-03 1.20420386e+02] [ 8.89172889e-01 4.57537708e-01 -5.55152758e-03 7.12174997e+01] [ 6.27041713e-03 -5.26000033e-05 9.99980339e-01 8.38317524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:71.24, Z:0.84 [[ 4.57039074e-01 -8.89441863e-01 -2.90800194e-03 1.20433860e+02] [ 8.89424514e-01 4.57048323e-01 -5.55557996e-03 7.12422924e+01] [ 6.27046280e-03 -4.73310907e-05 9.99980339e-01 8.38614866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:71.27, Z:0.84 [[ 4.57673817e-01 -8.89115369e-01 -2.92196767e-03 1.20446620e+02] [ 8.89098060e-01 4.57683141e-01 -5.54825176e-03 7.12655589e+01] [ 6.27037124e-03 -5.86262237e-05 9.99980339e-01 8.39285462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:71.29, Z:0.84 [[ 4.57887252e-01 -8.89005503e-01 -2.91211102e-03 1.20459263e+02] [ 8.88988159e-01 4.57896509e-01 -5.55342040e-03 7.12903087e+01] [ 6.27046677e-03 -4.59918133e-05 9.99980339e-01 8.39860101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:71.32, Z:0.84 [[ 4.58298871e-01 -8.88793381e-01 -2.91055749e-03 1.20471926e+02] [ 8.88776027e-01 4.58308111e-01 -5.55423449e-03 7.13151024e+01] [ 6.27049895e-03 -4.13343311e-05 9.99980339e-01 8.39403530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:71.34, Z:0.84 [[ 4.58465351e-01 -8.88707522e-01 -2.90900525e-03 1.20484820e+02] [ 8.88690161e-01 4.58474579e-01 -5.55504735e-03 7.13399058e+01] [ 6.27051732e-03 -3.84076121e-05 9.99980339e-01 8.39066434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:71.36, Z:0.84 [[ 4.59203746e-01 -8.88326216e-01 -2.90744957e-03 1.20498812e+02] [ 8.88308843e-01 4.59212949e-01 -5.55586145e-03 7.13636737e+01] [ 6.27055587e-03 -3.14407712e-05 9.99980339e-01 8.38392419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.51, Y:71.39, Z:0.84 [[ 4.59574620e-01 -8.88134406e-01 -2.90606021e-03 1.20512823e+02] [ 8.88117024e-01 4.59583807e-01 -5.55658808e-03 7.13884818e+01] [ 6.27057527e-03 -2.72546981e-05 9.99980339e-01 8.38829261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.53, Y:71.41, Z:0.84 [[ 4.59930480e-01 -8.87950177e-01 -2.90450069e-03 1.20526294e+02] [ 8.87932786e-01 4.59939650e-01 -5.55740314e-03 7.14132315e+01] [ 6.27059214e-03 -2.29823007e-05 9.99980339e-01 8.38833302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.54, Y:71.44, Z:0.84 [[ 4.61804995e-01 -8.86976730e-01 -2.90295133e-03 1.20539342e+02] [ 8.86959315e-01 4.61814119e-01 -5.55821235e-03 7.14374585e+01] [ 6.27062892e-03 -7.98949233e-06 9.99980339e-01 8.37863524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:71.46, Z:0.84 [[ 4.62694164e-01 -8.86513220e-01 -2.90189842e-03 1.20552667e+02] [ 8.86495792e-01 4.62703264e-01 -5.55876201e-03 7.14624475e+01] [ 6.27063388e-03 -5.13997359e-07 9.99980339e-01 8.37266481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.57, Y:71.49, Z:0.84 [[ 4.63626740e-01 -8.86025865e-01 -2.90034284e-03 1.20566357e+02] [ 8.86008423e-01 4.63635812e-01 -5.55957353e-03 7.14869739e+01] [ 6.27062875e-03 7.83876853e-06 9.99980339e-01 8.37038977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:71.51, Z:0.84 [[ 4.64467303e-01 -8.85585525e-01 -2.89876866e-03 1.20579798e+02] [ 8.85568068e-01 4.64476349e-01 -5.56039418e-03 7.15108091e+01] [ 6.27061408e-03 1.55643284e-05 9.99980339e-01 8.36470454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:71.54, Z:0.83 [[ 4.64424923e-01 -8.85607755e-01 -2.89735829e-03 1.20593528e+02] [ 8.85590295e-01 4.64433960e-01 -5.56112899e-03 7.15351782e+01] [ 6.27061055e-03 1.68545228e-05 9.99980339e-01 8.33690591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.61, Y:71.56, Z:0.84 [[ 4.66164484e-01 -8.84693374e-01 -2.88246348e-03 1.20609277e+02] [ 8.84675848e-01 4.66173393e-01 -5.56888414e-03 7.15587969e+01] [ 6.27048268e-03 4.59701718e-05 9.99980339e-01 8.36514026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.62, Y:71.58, Z:0.84 [[ 4.66460186e-01 -8.84537457e-01 -2.89518993e-03 1.20622610e+02] [ 8.84519969e-01 4.66469170e-01 -5.56225995e-03 7.15825778e+01] [ 6.27054411e-03 3.37195015e-05 9.99980339e-01 8.36948941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.64, Y:71.61, Z:0.84 [[ 4.65513213e-01 -8.85036246e-01 -2.87969399e-03 1.20637689e+02] [ 8.85018717e-01 4.65522117e-01 -5.57032115e-03 7.16069625e+01] [ 6.27049736e-03 4.44750153e-05 9.99980339e-01 8.37503285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.65, Y:71.63, Z:0.84 [[ 4.64845599e-01 -8.85387033e-01 -2.89324676e-03 1.20651612e+02] [ 8.85369555e-01 4.64854603e-01 -5.56327287e-03 7.16308579e+01] [ 6.27058873e-03 2.44703119e-05 9.99980339e-01 8.38151697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.67, Y:71.65, Z:0.84 [[ 4.63473732e-01 -8.86105940e-01 -2.89165334e-03 1.20667557e+02] [ 8.86088471e-01 4.63482753e-01 -5.56410097e-03 7.16536017e+01] [ 6.27061437e-03 1.65539583e-05 9.99980339e-01 8.38920507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:71.68, Z:0.84 [[ 4.62413432e-01 -8.86659722e-01 -2.89057216e-03 1.20681472e+02] [ 8.86642260e-01 4.62422467e-01 -5.56466259e-03 7.16774622e+01] [ 6.27062769e-03 1.02712939e-05 9.99980339e-01 8.39238810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:71.70, Z:0.84 [[ 4.61233363e-01 -8.87274162e-01 -2.88897972e-03 1.20694949e+02] [ 8.87256707e-01 4.61242411e-01 -5.56548921e-03 7.17013745e+01] [ 6.27063474e-03 3.72267427e-06 9.99980339e-01 8.39114271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:71.72, Z:0.84 [[ 4.58382856e-01 -8.88750145e-01 -2.88755040e-03 1.20709451e+02] [ 8.88732714e-01 4.58391950e-01 -5.56623069e-03 7.17241255e+01] [ 6.27061819e-03 -1.47957832e-05 9.99980339e-01 8.38657132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.071858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.72, Y:71.75, Z:0.84 [[ 4.56704719e-01 -8.89613662e-01 -2.88648061e-03 1.20723776e+02] [ 8.89596245e-01 4.56713840e-01 -5.56678539e-03 7.17480678e+01] [ 6.27058398e-03 -2.54251618e-05 9.99980339e-01 8.39180226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:71.77, Z:0.84 [[ 4.54743333e-01 -8.90617863e-01 -2.88492449e-03 1.20738157e+02] [ 8.90600461e-01 4.54752482e-01 -5.56759172e-03 7.17723678e+01] [ 6.27052321e-03 -3.74898684e-05 9.99980339e-01 8.39427405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.131858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:120.75, Y:71.80, Z:0.84 [[ 4.52733329e-01 -8.91641306e-01 -2.88337771e-03 1.20752368e+02] [ 8.91623920e-01 4.52742508e-01 -5.56839266e-03 7.17963246e+01] [ 6.27043656e-03 -4.98915848e-05 9.99980339e-01 8.39926060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:71.82, Z:0.84 [[ 4.49907584e-01 -8.93070468e-01 -2.88181999e-03 1.20767619e+02] [ 8.93053106e-01 4.49916808e-01 -5.56919871e-03 7.18176305e+01] [ 6.27026615e-03 -6.79935549e-05 9.99980339e-01 8.41636482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.79, Y:71.84, Z:0.84 [[ 4.48716477e-01 -8.93669592e-01 -2.86063314e-03 1.20785410e+02] [ 8.93652172e-01 4.48725593e-01 -5.58016269e-03 7.18447125e+01] [ 6.27046101e-03 -5.25000699e-05 9.99980339e-01 8.40540777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.80, Y:71.87, Z:0.84 [[ 4.46113085e-01 -8.94971815e-01 -2.92683263e-03 1.20796282e+02] [ 8.94954643e-01 4.46122662e-01 -5.54588308e-03 7.18670988e+01] [ 6.26913541e-03 -1.45291443e-04 9.99980338e-01 8.41642793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:71.89, Z:0.84 [[ 4.44057072e-01 -8.95993873e-01 -2.88033948e-03 1.20811423e+02] [ 8.95976567e-01 4.44066400e-01 -5.56992579e-03 7.18912163e+01] [ 6.26968137e-03 -1.07351745e-04 9.99980340e-01 8.40515192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.83, Y:71.92, Z:0.84 [[ 4.45019353e-01 -8.95516325e-01 -2.87876024e-03 1.20830258e+02] [ 8.95499003e-01 4.45028653e-01 -5.57074188e-03 7.19177596e+01] [ 6.26982109e-03 -9.88389815e-05 9.99980340e-01 8.39223147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.311858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.84, Y:71.94, Z:0.84 [[ 4.41645506e-01 -8.97184827e-01 -2.93828743e-03 1.20841461e+02] [ 8.97167742e-01 4.41655240e-01 -5.53996822e-03 7.19388638e+01] [ 6.26808547e-03 -1.89434633e-04 9.99980337e-01 8.39647812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.86, Y:71.96, Z:0.84 [[ 4.41015277e-01 -8.97494988e-01 -2.87629729e-03 1.20855451e+02] [ 8.97477700e-01 4.41024639e-01 -5.57196808e-03 7.19635557e+01] [ 6.26933140e-03 -1.24089634e-04 9.99980340e-01 8.39565647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.371858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:120.87, Y:71.99, Z:0.84 [[ 4.40339498e-01 -8.97826744e-01 -2.87472078e-03 1.20869369e+02] [ 8.97809458e-01 4.40348863e-01 -5.57278132e-03 7.19885030e+01] [ 6.26927214e-03 -1.27035778e-04 9.99980340e-01 8.39422797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:72.01, Z:0.84 [[ 4.42160427e-01 -8.96931381e-01 -2.87315347e-03 1.20888531e+02] [ 8.96914070e-01 4.42169747e-01 -5.57358927e-03 7.20144397e+01] [ 6.26954866e-03 -1.12551160e-04 9.99980340e-01 8.37208586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:72.04, Z:0.84 [[ 4.42481345e-01 -8.96772874e-01 -2.94466920e-03 1.20904969e+02] [ 8.96755802e-01 4.42491102e-01 -5.53669903e-03 7.20378327e+01] [ 6.26815142e-03 -1.90763155e-04 9.99980337e-01 8.37562848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:120.91, Y:72.06, Z:0.84 [[ 4.39184479e-01 -8.98392049e-01 -2.95297121e-03 1.20912008e+02] [ 8.98375042e-01 4.39194350e-01 -5.53241901e-03 7.20595579e+01] [ 6.26720952e-03 -2.23123069e-04 9.99980336e-01 8.41068208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:72.08, Z:0.84 [[ 4.39043182e-01 -8.98461380e-01 -2.86924095e-03 1.20926340e+02] [ 8.98444090e-01 4.39052538e-01 -5.57550790e-03 7.20838136e+01] [ 6.26912605e-03 -1.29963839e-04 9.99980340e-01 8.42273137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52185806399999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:120.94, Y:72.11, Z:0.84 [[ 4.39833901e-01 -8.98074560e-01 -2.86772380e-03 1.20940772e+02] [ 8.98057257e-01 4.39843232e-01 -5.57628813e-03 7.21064776e+01] [ 6.26927141e-03 -1.22739606e-04 9.99980340e-01 8.43954581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.551858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.96, Y:72.13, Z:0.84 [[ 4.43455448e-01 -8.96291834e-01 -2.86612062e-03 1.20961185e+02] [ 8.96274487e-01 4.43464699e-01 -5.57711201e-03 7.21345660e+01] [ 6.26974327e-03 -9.56300822e-05 9.99980340e-01 8.44311157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.581858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:120.97, Y:72.16, Z:0.84 [[ 4.41252871e-01 -8.97377930e-01 -2.95890103e-03 1.20966543e+02] [ 8.97360920e-01 4.41262739e-01 -5.52939327e-03 7.21566102e+01] [ 6.26760826e-03 -2.15341501e-04 9.99980335e-01 8.43787237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:72.19, Z:0.84 [[ 4.47120489e-01 -8.94469156e-01 -2.86307262e-03 1.20988005e+02] [ 8.94451763e-01 4.47129650e-01 -5.57857499e-03 7.21854207e+01] [ 6.27002793e-03 -6.65851721e-05 9.99980341e-01 8.43743372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.00, Y:72.21, Z:0.84 [[ 4.48038450e-01 -8.94009398e-01 -2.95708006e-03 1.20999531e+02] [ 8.93992308e-01 4.48048178e-01 -5.53027531e-03 7.22081466e+01] [ 6.26903243e-03 -1.65830852e-04 9.99980336e-01 8.42632779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:72.23, Z:0.84 [[ 4.46662243e-01 -8.94697854e-01 -2.93103034e-03 1.21007092e+02] [ 8.94680691e-01 4.46671836e-01 -5.54364771e-03 7.22314057e+01] [ 6.26909841e-03 -1.46198130e-04 9.99980338e-01 8.42537108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.701858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:121.02, Y:72.26, Z:0.84 [[ 4.47112635e-01 -8.94473091e-01 -2.86008185e-03 1.21020013e+02] [ 8.94455689e-01 4.47121778e-01 -5.58001296e-03 7.22555912e+01] [ 6.26997633e-03 -6.33221843e-05 9.99980342e-01 8.42113138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.731858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:121.03, Y:72.28, Z:0.84 [[ 4.47551434e-01 -8.94253623e-01 -2.85866311e-03 1.21032862e+02] [ 8.94236211e-01 4.47560560e-01 -5.58073970e-03 7.22800762e+01] [ 6.27002155e-03 -5.86520119e-05 9.99980342e-01 8.41661594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.05, Y:72.30, Z:0.84 [[ 4.46912265e-01 -8.94573259e-01 -2.84816451e-03 1.21045348e+02] [ 8.94555819e-01 4.46921338e-01 -5.58611270e-03 7.23046439e+01] [ 6.27009253e-03 -5.13398520e-05 9.99980341e-01 8.40987567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:72.33, Z:0.84 [[ 4.51141453e-01 -8.92447890e-01 -2.85534204e-03 1.21067939e+02] [ 8.92430431e-01 4.51150488e-01 -5.58244149e-03 7.23332886e+01] [ 6.27022708e-03 -2.97233629e-05 9.99980341e-01 8.40829603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:72.35, Z:0.84 [[ 4.46446556e-01 -8.94805354e-01 -2.97503793e-03 1.21071481e+02] [ 8.94788343e-01 4.46456425e-01 -5.52112612e-03 7.23540529e+01] [ 6.26855802e-03 -1.97141518e-04 9.99980333e-01 8.40653617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.851858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:121.08, Y:72.38, Z:0.84 [[ 4.47259067e-01 -8.94399903e-01 -2.85325082e-03 1.21083456e+02] [ 8.94382477e-01 4.47268164e-01 -5.58336273e-03 7.23776101e+01] [ 6.26992734e-03 -5.46879255e-05 9.99980342e-01 8.41257040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:121.10, Y:72.40, Z:0.84 [[ 4.47094084e-01 -8.94482491e-01 -2.82005142e-03 1.21096384e+02] [ 8.94464960e-01 4.47102977e-01 -5.60031386e-03 7.24030733e+01] [ 6.27023608e-03 -1.85699826e-05 9.99980342e-01 8.41421448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:72.43, Z:0.84 [[ 4.50843340e-01 -8.92598642e-01 -2.81904514e-03 1.21120038e+02] [ 8.92581070e-01 4.50852153e-01 -5.60082727e-03 7.24327755e+01] [ 6.27026339e-03 8.86934711e-06 9.99980342e-01 8.38674903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:121.12, Y:72.45, Z:0.84 [[ 4.45059069e-01 -8.95496305e-01 -2.96516321e-03 1.21122051e+02] [ 8.95479276e-01 4.45068904e-01 -5.52613159e-03 7.24546103e+01] [ 6.26833236e-03 -1.95787222e-04 9.99980335e-01 8.42089917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.971858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:121.13, Y:72.48, Z:0.84 [[ 4.45034541e-01 -8.95508874e-01 -2.84847134e-03 1.21133195e+02] [ 8.95491456e-01 4.45043652e-01 -5.58564022e-03 7.24781387e+01] [ 6.26968447e-03 -6.49789149e-05 9.99980343e-01 8.41739695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.16, Y:72.51, Z:0.84 [[ 4.48373808e-01 -8.93841652e-01 -2.83373184e-03 1.21155999e+02] [ 8.93824153e-01 4.48382762e-01 -5.59315188e-03 7.25075859e+01] [ 6.26998862e-03 -2.50351532e-05 9.99980343e-01 8.40369210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.16, Y:72.53, Z:0.84 [[ 4.41833800e-01 -8.97091977e-01 -2.97966688e-03 1.21156621e+02] [ 8.97075033e-01 4.41843785e-01 -5.51866367e-03 7.25281513e+01] [ 6.26729619e-03 -2.34652624e-04 9.99980333e-01 8.41417570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:121.18, Y:72.56, Z:0.84 [[ 4.46193614e-01 -8.94931937e-01 -2.84379381e-03 1.21178618e+02] [ 8.94914493e-01 4.46202673e-01 -5.58781334e-03 7.25555701e+01] [ 6.26962102e-03 -5.17056664e-05 9.99980344e-01 8.40489694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:72.58, Z:0.84 [[ 4.42421203e-01 -8.96802597e-01 -2.92931181e-03 1.21188799e+02] [ 8.96785475e-01 4.42430866e-01 -5.54432802e-03 7.25823110e+01] [ 6.26818573e-03 -1.74036011e-04 9.99980340e-01 8.40850195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:72.60, Z:0.84 [[ 4.37671839e-01 -8.99130028e-01 -2.92472442e-03 1.21192060e+02] [ 8.99112942e-01 4.37681565e-01 -5.54665825e-03 7.26047602e+01] [ 6.26726494e-03 -2.02041460e-04 9.99980340e-01 8.40916559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.21, Y:72.63, Z:0.84 [[ 4.40857698e-01 -8.97572533e-01 -2.83510424e-03 1.21212332e+02] [ 8.97555116e-01 4.40866807e-01 -5.59209431e-03 7.26331946e+01] [ 6.26921361e-03 -7.93444914e-05 9.99980345e-01 8.40289751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:72.66, Z:0.84 [[ 4.39735217e-01 -8.98122664e-01 -2.93591956e-03 1.21222610e+02] [ 8.98105594e-01 4.39744972e-01 -5.54093044e-03 7.26556884e+01] [ 6.26749107e-03 -2.00223526e-04 9.99980339e-01 8.39231805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:72.68, Z:0.84 [[ 4.37751135e-01 -8.99091536e-01 -2.89022830e-03 1.21237727e+02] [ 8.99074334e-01 4.37760646e-01 -5.56409600e-03 7.26843559e+01] [ 6.26785983e-03 -1.62840741e-04 9.99980344e-01 8.40564912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24185806399998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:121.24, Y:72.70, Z:0.84 [[ 4.34210305e-01 -9.00806749e-01 -2.93465828e-03 1.21242801e+02] [ 9.00789736e-01 4.34220157e-01 -5.54147443e-03 7.27049796e+01] [ 6.26608535e-03 -2.37344753e-04 9.99980340e-01 8.41327398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.25, Y:72.73, Z:0.84 [[ 4.33548392e-01 -9.01125785e-01 -2.84813112e-03 1.21253881e+02] [ 9.01108486e-01 4.33557723e-01 -5.58544715e-03 7.27310419e+01] [ 6.26801969e-03 -1.44913492e-04 9.99980345e-01 8.40939450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.301858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.27, Y:72.76, Z:0.84 [[ 4.37452836e-01 -8.99236877e-01 -2.83842169e-03 1.21274388e+02] [ 8.99219506e-01 4.37462031e-01 -5.59037696e-03 7.27601716e+01] [ 6.26877483e-03 -1.06837894e-04 9.99980345e-01 8.38068273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.331858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.28, Y:72.78, Z:0.84 [[ 4.33872771e-01 -9.00969292e-01 -2.95866772e-03 1.21277314e+02] [ 9.00952365e-01 4.33882777e-01 -5.52923191e-03 7.27817151e+01] [ 6.26538312e-03 -2.66635502e-04 9.99980337e-01 8.41476434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.361858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.29, Y:72.81, Z:0.84 [[ 4.34429604e-01 -9.00701306e-01 -2.84186935e-03 1.21289327e+02] [ 9.00683979e-01 4.34438879e-01 -5.58847635e-03 7.28073780e+01] [ 6.26816648e-03 -1.31826624e-04 9.99980346e-01 8.42343982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:72.83, Z:0.84 [[ 4.38770533e-01 -8.98594662e-01 -2.83793719e-03 1.21305434e+02] [ 8.98577277e-01 4.38779700e-01 -5.59046951e-03 7.28333585e+01] [ 6.26879529e-03 -9.71725867e-05 9.99980346e-01 8.42660689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.421858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:121.32, Y:72.86, Z:0.84 [[ 4.37080709e-01 -8.99417707e-01 -2.87111770e-03 1.21317522e+02] [ 8.99400448e-01 4.37090114e-01 -5.57370420e-03 7.28604278e+01] [ 6.26802541e-03 -1.46125963e-04 9.99980345e-01 8.44237648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.451858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:121.33, Y:72.89, Z:0.85 [[ 4.37137128e-01 -8.99390279e-01 -2.87354991e-03 1.21330091e+02] [ 8.99373028e-01 4.37146547e-01 -5.57247802e-03 7.28868599e+01] [ 6.26799498e-03 -1.48456250e-04 9.99980345e-01 8.45716891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.481858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:121.34, Y:72.91, Z:0.85 [[ 4.38497482e-01 -8.98727822e-01 -2.87421838e-03 1.21341364e+02] [ 8.98710559e-01 4.38506879e-01 -5.57214114e-03 7.29107747e+01] [ 6.26820280e-03 -1.39720546e-04 9.99980345e-01 8.45774971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.511858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.36, Y:72.94, Z:0.85 [[ 4.39573859e-01 -8.98201839e-01 -2.87741503e-03 1.21355317e+02] [ 8.98184575e-01 4.39583256e-01 -5.57052866e-03 7.29376517e+01] [ 6.26832255e-03 -1.35791010e-04 9.99980345e-01 8.45022457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.541858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.37, Y:72.96, Z:0.85 [[ 4.40416908e-01 -8.97788714e-01 -2.89353732e-03 1.21366862e+02] [ 8.97771494e-01 4.40426389e-01 -5.56240062e-03 7.29616616e+01] [ 6.26825069e-03 -1.47960040e-04 9.99980343e-01 8.45793962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:72.99, Z:0.85 [[ 4.37210721e-01 -8.99354496e-01 -2.87694761e-03 1.21372299e+02] [ 8.99337255e-01 4.37220160e-01 -5.57075415e-03 7.29859458e+01] [ 6.26794228e-03 -1.51752727e-04 9.99980345e-01 8.48086885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:73.01, Z:0.85 [[ 4.42031912e-01 -8.96994903e-01 -2.81657266e-03 1.21392922e+02] [ 8.96977417e-01 4.42040882e-01 -5.60111427e-03 7.30140995e+01] [ 6.26921122e-03 -5.05308140e-05 9.99980347e-01 8.49588193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.631858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.41, Y:73.04, Z:0.85 [[ 4.42083903e-01 -8.96968968e-01 -2.91437859e-03 1.21405969e+02] [ 8.96951800e-01 4.42093480e-01 -5.55189866e-03 7.30399789e+01] [ 6.26830858e-03 -1.59652091e-04 9.99980341e-01 8.50625384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.41, Y:73.06, Z:0.85 [[ 4.36968054e-01 -8.99472290e-01 -2.91889235e-03 1.21408953e+02] [ 8.99455192e-01 4.36977757e-01 -5.54962952e-03 7.30610215e+01] [ 6.26722900e-03 -2.00402070e-04 9.99980341e-01 8.48946986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:73.09, Z:0.85 [[ 4.42120547e-01 -8.96951237e-01 -2.81064623e-03 1.21430269e+02] [ 8.96933732e-01 4.42129479e-01 -5.60392041e-03 7.30883295e+01] [ 6.26911290e-03 -4.33550603e-05 9.99980348e-01 8.51032102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:73.12, Z:0.85 [[ 4.41160127e-01 -8.97423752e-01 -2.88975888e-03 1.21442360e+02] [ 8.97406513e-01 4.41169570e-01 -5.56432157e-03 7.31151660e+01] [ 6.26842803e-03 -1.38531626e-04 9.99980344e-01 8.49625575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:73.14, Z:0.85 [[ 4.40598909e-01 -8.97699413e-01 -2.89210835e-03 1.21453891e+02] [ 8.97682187e-01 4.40608377e-01 -5.56314820e-03 7.31417584e+01] [ 6.26832204e-03 -1.45077119e-04 9.99980343e-01 8.49950314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.46, Y:73.17, Z:0.85 [[ 4.41800955e-01 -8.97108452e-01 -2.88811551e-03 1.21464733e+02] [ 8.97091200e-01 4.41810375e-01 -5.56514121e-03 7.31650388e+01] [ 6.26853461e-03 -1.32218307e-04 9.99980344e-01 8.51125464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.811858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.47, Y:73.19, Z:0.85 [[ 4.36949010e-01 -8.99481686e-01 -2.87377099e-03 1.21470869e+02] [ 8.99464438e-01 4.36958434e-01 -5.57231193e-03 7.31896892e+01] [ 6.26791101e-03 -1.50038630e-04 9.99980345e-01 8.50826155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:73.22, Z:0.85 [[ 4.37834737e-01 -8.99051075e-01 -2.81199096e-03 1.21485564e+02] [ 8.99033618e-01 4.37843761e-01 -5.60313414e-03 7.32156856e+01] [ 6.26871647e-03 -7.48276375e-05 9.99980349e-01 8.51709851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:73.24, Z:0.85 [[ 4.36994981e-01 -8.99459473e-01 -2.83599711e-03 1.21497572e+02] [ 8.99442101e-01 4.37004170e-01 -5.59117473e-03 7.32410254e+01] [ 6.26837764e-03 -1.07499904e-04 9.99980348e-01 8.51580027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:73.26, Z:0.85 [[ 4.34003887e-01 -9.00906560e-01 -2.82768408e-03 1.21507185e+02] [ 9.00889193e-01 4.34013082e-01 -5.59531364e-03 7.32644397e+01] [ 6.26810665e-03 -1.19042156e-04 9.99980348e-01 8.50377662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:73.29, Z:0.85 [[ 4.36206230e-01 -8.99842392e-01 -2.79171858e-03 1.21525907e+02] [ 8.99824887e-01 4.36215159e-01 -5.61320104e-03 7.32920267e+01] [ 6.26878622e-03 -6.35445867e-05 9.99980349e-01 8.50794787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:73.32, Z:0.85 [[ 4.34658341e-01 -9.00590885e-01 -2.86089463e-03 1.21538253e+02] [ 9.00573618e-01 4.34667730e-01 -5.57882831e-03 7.33182766e+01] [ 6.26778050e-03 -1.51561971e-04 9.99980346e-01 8.51342578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:121.55, Y:73.34, Z:0.85 [[ 4.31951530e-01 -9.01892289e-01 -2.85907287e-03 1.21548435e+02] [ 9.01875045e-01 4.31960959e-01 -5.57973268e-03 7.33431366e+01] [ 6.26732574e-03 -1.68352405e-04 9.99980346e-01 8.50763826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:73.37, Z:0.85 [[ 4.29478871e-01 -9.03072430e-01 -2.84351926e-03 1.21559564e+02] [ 9.03055161e-01 4.29488251e-01 -5.58744378e-03 7.33688731e+01] [ 6.26712455e-03 -1.68165698e-04 9.99980347e-01 8.51884499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:73.39, Z:0.85 [[ 4.29621425e-01 -9.03004668e-01 -2.82874087e-03 1.21573673e+02] [ 9.02987348e-01 4.29630711e-01 -5.59477832e-03 7.33937255e+01] [ 6.26742489e-03 -1.50680583e-04 9.99980348e-01 8.51305805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:73.42, Z:0.85 [[ 4.29598540e-01 -9.03015499e-01 -2.84649182e-03 1.21588511e+02] [ 9.02998238e-01 4.29607937e-01 -5.58597599e-03 7.34212241e+01] [ 6.26709837e-03 -1.70649971e-04 9.99980347e-01 8.51306147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:73.44, Z:0.85 [[ 4.27751759e-01 -9.03891622e-01 -2.89264186e-03 1.21594634e+02] [ 9.03874534e-01 4.27761475e-01 -5.56308555e-03 7.34430587e+01] [ 6.26578717e-03 -2.34965676e-04 9.99980342e-01 8.52148005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.61, Y:73.47, Z:0.85 [[ 4.26499239e-01 -9.04483590e-01 -2.79918925e-03 1.21606921e+02] [ 9.04466207e-01 4.26508402e-01 -5.60931872e-03 7.34712172e+01] [ 6.26741446e-03 -1.39401916e-04 9.99980350e-01 8.53503710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.62, Y:73.50, Z:0.85 [[ 4.27893345e-01 -9.03824840e-01 -2.81848146e-03 1.21618500e+02] [ 9.03807505e-01 4.27902601e-01 -5.59978615e-03 7.34984091e+01] [ 6.26726137e-03 -1.51253471e-04 9.99980349e-01 8.53325847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.201858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.63, Y:73.52, Z:0.85 [[ 4.26667684e-01 -9.04404054e-01 -2.82740690e-03 1.21625532e+02] [ 9.04386761e-01 4.26677018e-01 -5.59537825e-03 7.35220162e+01] [ 6.26687232e-03 -1.69702288e-04 9.99980349e-01 8.52749816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.231858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:121.64, Y:73.55, Z:0.85 [[ 4.27924062e-01 -9.03810438e-01 -2.77284483e-03 1.21636003e+02] [ 9.03792956e-01 4.27933034e-01 -5.62228762e-03 7.35484204e+01] [ 6.26807414e-03 -1.00165468e-04 9.99980350e-01 8.52763362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.65, Y:73.57, Z:0.85 [[ 4.28592015e-01 -9.03493887e-01 -2.77129686e-03 1.21647410e+02] [ 9.03476394e-01 4.28600965e-01 -5.62305053e-03 7.35739991e+01] [ 6.26817229e-03 -9.38067322e-05 9.99980350e-01 8.53119451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.66, Y:73.60, Z:0.85 [[ 4.29057212e-01 -9.03273069e-01 -2.76972176e-03 1.21658636e+02] [ 9.03255566e-01 4.29066142e-01 -5.62382627e-03 7.35999482e+01] [ 6.26824464e-03 -8.88233808e-05 9.99980350e-01 8.52981549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.67, Y:73.63, Z:0.85 [[ 4.29681686e-01 -9.02976182e-01 -2.76815389e-03 1.21670603e+02] [ 9.02958668e-01 4.29690595e-01 -5.62459790e-03 7.36257565e+01] [ 6.26832763e-03 -8.27418382e-05 9.99980350e-01 8.52765095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:73.65, Z:0.85 [[ 4.31075467e-01 -9.02311636e-01 -2.76658958e-03 1.21681397e+02] [ 9.02294103e-01 4.31084339e-01 -5.62536723e-03 7.36512888e+01] [ 6.26846775e-03 -7.13196586e-05 9.99980350e-01 8.52424957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:73.68, Z:0.85 [[ 4.32652305e-01 -9.01556639e-01 -2.75845641e-03 1.21696442e+02] [ 9.01539066e-01 4.32661095e-01 -5.62936576e-03 7.36791693e+01] [ 6.26866885e-03 -5.12981452e-05 9.99980350e-01 8.52820120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:73.70, Z:0.85 [[ 4.31709957e-01 -9.02008087e-01 -2.81498039e-03 1.21703601e+02] [ 9.01990702e-01 4.31719117e-01 -5.60159219e-03 7.37026752e+01] [ 6.26796230e-03 -1.20823015e-04 9.99980349e-01 8.51660901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.71, Y:73.73, Z:0.85 [[ 4.33359520e-01 -9.01216900e-01 -2.76148268e-03 1.21714195e+02] [ 9.01199329e-01 4.33368316e-01 -5.62784257e-03 7.37269686e+01] [ 6.26864594e-03 -4.97671841e-05 9.99980351e-01 8.51283409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:73.75, Z:0.85 [[ 4.34038678e-01 -9.00890082e-01 -2.73597652e-03 1.21725215e+02] [ 9.00872425e-01 4.34047301e-01 -5.64034724e-03 7.37534516e+01] [ 6.26887611e-03 -1.66369372e-05 9.99980350e-01 8.51500171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.74, Y:73.78, Z:0.85 [[ 4.34843116e-01 -9.00501999e-01 -2.75955407e-03 1.21737163e+02] [ 9.00484407e-01 4.34851871e-01 -5.62878818e-03 7.37789718e+01] [ 6.26873225e-03 -3.72956179e-05 9.99980351e-01 8.51970074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.531858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.75, Y:73.80, Z:0.85 [[ 4.35321103e-01 -9.00271032e-01 -2.75795678e-03 1.21748376e+02] [ 9.00253431e-01 4.35329838e-01 -5.62957070e-03 7.38040164e+01] [ 6.26876030e-03 -3.21891314e-05 9.99980351e-01 8.51628133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.76, Y:73.83, Z:0.85 [[ 4.37529879e-01 -8.99199648e-01 -2.75652079e-03 1.21762152e+02] [ 8.99182021e-01 4.37538562e-01 -5.63027374e-03 7.38300588e+01] [ 6.26882431e-03 -1.52009495e-05 9.99980351e-01 8.47813543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.591858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.77, Y:73.85, Z:0.85 [[ 4.36856750e-01 -8.99526825e-01 -2.76967358e-03 1.21771720e+02] [ 8.99509246e-01 4.36865528e-01 -5.62383371e-03 7.38532354e+01] [ 6.26876419e-03 -3.45372779e-05 9.99980351e-01 8.51466723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.78, Y:73.88, Z:0.85 [[ 4.35559663e-01 -9.00155712e-01 -2.73370967e-03 1.21784479e+02] [ 9.00138034e-01 4.35568242e-01 -5.64142353e-03 7.38802295e+01] [ 6.26887673e-03 -3.53951115e-06 9.99980350e-01 8.51606785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.651858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.80, Y:73.90, Z:0.85 [[ 4.34955836e-01 -9.00447578e-01 -2.75328072e-03 1.21796155e+02] [ 9.00429966e-01 4.34964549e-01 -5.63185571e-03 7.39045801e+01] [ 6.26877034e-03 -2.95279548e-05 9.99980351e-01 8.51663951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.81, Y:73.93, Z:0.85 [[ 4.33427476e-01 -9.01184249e-01 -2.75185475e-03 1.21808252e+02] [ 9.01166647e-01 4.33436210e-01 -5.63255238e-03 7.39295558e+01] [ 6.26872098e-03 -3.85767566e-05 9.99980351e-01 8.51691869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.711858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.82, Y:73.95, Z:0.85 [[ 4.32397220e-01 -9.01679034e-01 -2.75029652e-03 1.21820426e+02] [ 9.01661437e-01 4.32405965e-01 -5.63331315e-03 7.39541280e+01] [ 6.26868497e-03 -4.40073644e-05 9.99980351e-01 8.51467611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:73.98, Z:0.85 [[ 4.32332988e-01 -9.01709838e-01 -2.74889996e-03 1.21833895e+02] [ 9.01692238e-01 4.32341725e-01 -5.63399454e-03 7.39789804e+01] [ 6.26869246e-03 -4.29000610e-05 9.99980351e-01 8.50738912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:74.00, Z:0.85 [[ 4.30116856e-01 -9.02769042e-01 -2.74708647e-03 1.21847103e+02] [ 9.02751458e-01 4.30125624e-01 -5.63487877e-03 7.40046036e+01] [ 6.26858639e-03 -5.62799803e-05 9.99980351e-01 8.51546308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:74.03, Z:0.85 [[ 4.29865224e-01 -9.02888872e-01 -2.75197448e-03 1.21859556e+02] [ 9.02871306e-01 4.29874028e-01 -5.63249655e-03 7.40303314e+01] [ 6.26852081e-03 -6.34643959e-05 9.99980351e-01 8.51727422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.831858064 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:121.87, Y:74.05, Z:0.85 [[ 4.28974635e-01 -9.03312348e-01 -2.75049398e-03 1.21869513e+02] [ 9.03294785e-01 4.28983447e-01 -5.63321792e-03 7.40520663e+01] [ 6.26847169e-03 -6.79992655e-05 9.99980351e-01 8.50232694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.861858064 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:121.88, Y:74.08, Z:0.85 [[ 4.27721490e-01 -9.03906530e-01 -2.70426432e-03 1.21881147e+02] [ 9.03888836e-01 4.27730038e-01 -5.65571457e-03 7.40762590e+01] [ 6.26893241e-03 -2.52836685e-05 9.99980350e-01 8.50509854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.891858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:121.90, Y:74.10, Z:0.85 [[ 4.25791650e-01 -9.04817185e-01 -2.70804712e-03 1.21895062e+02] [ 9.04799521e-01 4.25800259e-01 -5.65387294e-03 7.41038202e+01] [ 6.26880856e-03 -4.28678535e-05 9.99980350e-01 8.51230529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.921858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:121.91, Y:74.13, Z:0.85 [[ 4.25616646e-01 -9.04899346e-01 -2.76489287e-03 1.21906432e+02] [ 9.04881861e-01 4.25625613e-01 -5.62626859e-03 7.41273692e+01] [ 6.26801599e-03 -1.07267839e-04 9.99980350e-01 8.51550647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.951858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.92, Y:74.15, Z:0.85 [[ 4.26064027e-01 -9.04688833e-01 -2.74975677e-03 1.21918932e+02] [ 9.04671296e-01 4.26072891e-01 -5.63361473e-03 7.41514562e+01] [ 6.26826514e-03 -8.73454409e-05 9.99980350e-01 8.51043724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.981858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.93, Y:74.18, Z:0.85 [[ 4.25156132e-01 -9.05115893e-01 -2.73565186e-03 1.21930069e+02] [ 9.05098321e-01 4.25164926e-01 -5.64045568e-03 7.41755610e+01] [ 6.26836930e-03 -7.79595863e-05 9.99980351e-01 8.49649097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.011858064 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:121.94, Y:74.20, Z:0.85 [[ 4.25354277e-01 -9.05022884e-01 -2.70539072e-03 1.21941236e+02] [ 9.05005216e-01 4.25362878e-01 -5.65511266e-03 7.41991213e+01] [ 6.26877915e-03 -4.29663566e-05 9.99980350e-01 8.49311677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.041858064 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:121.95, Y:74.23, Z:0.85 [[ 4.24282101e-01 -9.05526060e-01 -2.69343442e-03 1.21953675e+02] [ 9.05508366e-01 4.24290648e-01 -5.66089478e-03 7.42250025e+01] [ 6.26888677e-03 -3.71110704e-05 9.99980350e-01 8.48943291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.071858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:121.97, Y:74.25, Z:0.85 [[ 4.23778198e-01 -9.05761948e-01 -2.70774926e-03 1.21965959e+02] [ 9.05744303e-01 4.23786845e-01 -5.65397583e-03 7.42480868e+01] [ 6.26866468e-03 -5.64967708e-05 9.99980350e-01 8.46916493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101858064 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:121.98, Y:74.27, Z:0.85 [[ 4.24318156e-01 -9.05509185e-01 -2.68688199e-03 1.21978421e+02] [ 9.05491470e-01 4.24326662e-01 -5.66404685e-03 7.42734868e+01] [ 6.26896211e-03 -2.95908100e-05 9.99980349e-01 8.48414429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.131858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.99, Y:74.30, Z:0.85 [[ 4.23864269e-01 -9.05721724e-01 -2.69078520e-03 1.21990869e+02] [ 9.05704026e-01 4.23872808e-01 -5.66216405e-03 7.42980987e+01] [ 6.26889567e-03 -3.70659639e-05 9.99980350e-01 8.50647937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:74.33, Z:0.85 [[ 4.26089433e-01 -9.04677000e-01 -2.70562875e-03 1.22010949e+02] [ 9.04659326e-01 4.26098022e-01 -5.65499681e-03 7.43263355e+01] [ 6.26880860e-03 -3.81378996e-05 9.99980350e-01 8.47696225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:74.35, Z:0.85 [[ 4.26629117e-01 -9.04422379e-01 -2.78516590e-03 1.22026748e+02] [ 9.04404947e-01 4.26638190e-01 -5.61668434e-03 7.43546846e+01] [ 6.26811315e-03 -1.22676732e-04 9.99980348e-01 8.46539440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:74.38, Z:0.85 [[ 4.23680524e-01 -9.05807303e-01 -2.81849267e-03 1.22035518e+02] [ 9.05790006e-01 4.23689860e-01 -5.60066500e-03 7.43785551e+01] [ 6.26729002e-03 -1.80069809e-04 9.99980344e-01 8.48831634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.251858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.05, Y:74.40, Z:0.85 [[ 4.24491362e-01 -9.05427781e-01 -2.75994670e-03 1.22049366e+02] [ 9.05410291e-01 4.24500320e-01 -5.62875868e-03 7.44028460e+01] [ 6.26803274e-03 -1.09524702e-04 9.99980350e-01 8.49472880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:122.06, Y:74.43, Z:0.85 [[ 4.23713955e-01 -9.05791807e-01 -2.77252673e-03 1.22063579e+02] [ 9.05774364e-01 4.23723006e-01 -5.62272034e-03 7.44280230e+01] [ 6.26779737e-03 -1.28858562e-04 9.99980349e-01 8.51555297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.07, Y:74.45, Z:0.85 [[ 4.22750739e-01 -9.06241696e-01 -2.79322033e-03 1.22074850e+02] [ 9.06224328e-01 4.22759937e-01 -5.61280004e-03 7.44518624e+01] [ 6.26741507e-03 -1.58468849e-04 9.99980347e-01 8.51633996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341858064 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:122.08, Y:74.47, Z:0.85 [[ 4.21534901e-01 -9.06807981e-01 -2.75907764e-03 1.22084827e+02] [ 9.06790518e-01 4.21543911e-01 -5.62922130e-03 7.44739247e+01] [ 6.26769518e-03 -1.28992195e-04 9.99980349e-01 8.50485608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.371858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:122.10, Y:74.50, Z:0.85 [[ 4.22696035e-01 -9.06267455e-01 -2.71343928e-03 1.22100635e+02] [ 9.06249838e-01 4.22704738e-01 -5.65113494e-03 7.44981894e+01] [ 6.26842332e-03 -7.03415730e-05 9.99980351e-01 8.51941328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:122.12, Y:74.52, Z:0.85 [[ 4.22895844e-01 -9.06174165e-01 -2.73645530e-03 1.22115872e+02] [ 9.06156617e-01 4.22904687e-01 -5.64011924e-03 7.45249357e+01] [ 6.26819011e-03 -9.44740852e-05 9.99980350e-01 8.52478152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.431858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.13, Y:74.55, Z:0.85 [[ 4.20915685e-01 -9.07095527e-01 -2.77312662e-03 1.22126523e+02] [ 9.07078114e-01 4.20924794e-01 -5.62257504e-03 7.45503462e+01] [ 6.26749042e-03 -1.48812438e-04 9.99980348e-01 8.52141281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:122.14, Y:74.58, Z:0.85 [[ 4.22256925e-01 -9.06472037e-01 -2.74506050e-03 1.22141754e+02] [ 9.06454523e-01 4.22265833e-01 -5.63597640e-03 7.45757019e+01] [ 6.26800027e-03 -1.08442443e-04 9.99980350e-01 8.51979077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.15, Y:74.60, Z:0.85 [[ 4.22610280e-01 -9.06307329e-01 -2.75245782e-03 1.22153206e+02] [ 9.06289834e-01 4.22619228e-01 -5.63244652e-03 7.45984152e+01] [ 6.26796916e-03 -1.14194742e-04 9.99980350e-01 8.50780147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:74.62, Z:0.85 [[ 4.22477509e-01 -9.06369282e-01 -2.73475773e-03 1.22166651e+02] [ 9.06351734e-01 4.22486349e-01 -5.64088646e-03 7.46237021e+01] [ 6.26812402e-03 -9.55047507e-05 9.99980351e-01 8.50450518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:74.65, Z:0.85 [[ 4.22154440e-01 -9.06519820e-01 -2.72834821e-03 1.22178841e+02] [ 9.06502255e-01 4.22163247e-01 -5.64394090e-03 7.46493909e+01] [ 6.26815263e-03 -9.06390967e-05 9.99980351e-01 8.51835224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.581858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.19, Y:74.67, Z:0.85 [[ 4.20271495e-01 -9.07394333e-01 -2.71932249e-03 1.22189846e+02] [ 9.07376759e-01 4.20280282e-01 -5.64823837e-03 7.46742531e+01] [ 6.26805711e-03 -9.36564478e-05 9.99980351e-01 8.50173944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:74.70, Z:0.85 [[ 4.20295233e-01 -9.07383408e-01 -2.69609475e-03 1.22203451e+02] [ 9.07365762e-01 4.20303875e-01 -5.65928809e-03 7.46993373e+01] [ 6.26832319e-03 -6.77722640e-05 9.99980352e-01 8.49869555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.641858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:122.22, Y:74.72, Z:0.85 [[ 4.20333227e-01 -9.07365825e-01 -2.69022802e-03 1.22219174e+02] [ 9.07348161e-01 4.20341832e-01 -5.66207750e-03 7.47235618e+01] [ 6.26839099e-03 -6.10141387e-05 9.99980352e-01 8.50022820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.671858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:122.23, Y:74.75, Z:0.85 [[ 4.20499789e-01 -9.07288585e-01 -2.71111260e-03 1.22232212e+02] [ 9.07270983e-01 4.20508521e-01 -5.65214785e-03 7.47480485e+01] [ 6.26817517e-03 -8.29868131e-05 9.99980351e-01 8.49442891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:74.77, Z:0.85 [[ 4.21338655e-01 -9.06899343e-01 -2.70542365e-03 1.22244431e+02] [ 9.06881716e-01 4.21347335e-01 -5.65485090e-03 7.47712913e+01] [ 6.26830361e-03 -7.08919623e-05 9.99980351e-01 8.48016375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.731858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.26, Y:74.80, Z:0.85 [[ 4.19153649e-01 -9.07911370e-01 -2.67629305e-03 1.22255684e+02] [ 9.07893675e-01 4.19162189e-01 -5.66868459e-03 7.47982078e+01] [ 6.26846404e-03 -5.37396999e-05 9.99980352e-01 8.49387245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:74.82, Z:0.85 [[ 4.20523095e-01 -9.07277850e-01 -2.68866715e-03 1.22269882e+02] [ 9.07260180e-01 4.20531686e-01 -5.66280970e-03 7.48207902e+01] [ 6.26841154e-03 -5.79783811e-05 9.99980352e-01 8.49112131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:74.85, Z:0.85 [[ 4.17736587e-01 -9.08564289e-01 -2.66009991e-03 1.22282438e+02] [ 9.08546558e-01 4.17745054e-01 -5.67635343e-03 7.48484373e+01] [ 6.26857560e-03 -4.56041134e-05 9.99980351e-01 8.47641920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:74.87, Z:0.85 [[ 4.18072015e-01 -9.08409919e-01 -2.68513944e-03 1.22295420e+02] [ 9.08392260e-01 4.18080632e-01 -5.66448393e-03 7.48717669e+01] [ 6.26827818e-03 -7.09976727e-05 9.99980352e-01 8.50053880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.851858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.31, Y:74.89, Z:0.85 [[ 4.20050804e-01 -9.07496621e-01 -2.68407279e-03 1.22308117e+02] [ 9.07478941e-01 4.20059376e-01 -5.66498931e-03 7.48941369e+01] [ 6.26842860e-03 -5.61562179e-05 9.99980352e-01 8.50912605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:74.92, Z:0.85 [[ 4.18021634e-01 -9.08433176e-01 -2.66054690e-03 1.22318895e+02] [ 9.08415444e-01 4.18030098e-01 -5.67613263e-03 7.49193907e+01] [ 6.26857587e-03 -4.41356547e-05 9.99980351e-01 8.50059435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:74.94, Z:0.85 [[ 4.20235469e-01 -9.07411216e-01 -2.65242173e-03 1.22332384e+02] [ 9.07393439e-01 4.20243840e-01 -5.67998004e-03 7.49438676e+01] [ 6.26874149e-03 -1.98609932e-05 9.99980351e-01 8.50882763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:74.97, Z:0.85 [[ 4.21191328e-01 -9.06967891e-01 -2.66656778e-03 1.22344475e+02] [ 9.06950147e-01 4.21199768e-01 -5.67328192e-03 7.49696087e+01] [ 6.26864227e-03 -2.89068969e-05 9.99980351e-01 8.51990837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.971858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:122.36, Y:74.99, Z:0.85 [[ 4.21118667e-01 -9.07001616e-01 -2.67152535e-03 1.22356006e+02] [ 9.06983888e-01 4.21127139e-01 -5.67093542e-03 7.49943551e+01] [ 6.26859942e-03 -3.48936843e-05 9.99980352e-01 8.52477101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:122.37, Y:75.02, Z:0.85 [[ 4.23269522e-01 -9.05999881e-01 -2.66968551e-03 1.22367160e+02] [ 9.05982128e-01 4.23277941e-01 -5.67180567e-03 7.50185711e+01] [ 6.26867425e-03 -1.79848801e-05 9.99980352e-01 8.52380167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.031858064 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:122.38, Y:75.05, Z:0.85 [[ 4.22576587e-01 -9.06323321e-01 -2.65834028e-03 1.22378762e+02] [ 9.06305540e-01 4.22584948e-01 -5.67716251e-03 7.50459172e+01] [ 6.26871937e-03 -1.02325670e-05 9.99980351e-01 8.51991492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:122.39, Y:75.07, Z:0.85 [[ 4.23973992e-01 -9.05670432e-01 -2.66869315e-03 1.22390391e+02] [ 9.05652669e-01 4.23982391e-01 -5.67227694e-03 7.50714729e+01] [ 6.26869241e-03 -1.20111783e-05 9.99980351e-01 8.53587913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:75.10, Z:0.85 [[ 4.24940867e-01 -9.05217161e-01 -2.67403392e-03 1.22401627e+02] [ 9.05199405e-01 4.24949280e-01 -5.66975807e-03 7.50964649e+01] [ 6.26869109e-03 -1.12220072e-05 9.99980352e-01 8.50940671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:75.12, Z:0.85 [[ 4.23791873e-01 -9.05755692e-01 -2.65997970e-03 1.22414355e+02] [ 9.05737905e-01 4.23800221e-01 -5.67638159e-03 7.51227523e+01] [ 6.26871492e-03 -3.64006022e-06 9.99980351e-01 8.52469575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:75.15, Z:0.85 [[ 4.24371105e-01 -9.05484383e-01 -2.68268643e-03 1.22426224e+02] [ 9.05466658e-01 4.24379584e-01 -5.66568203e-03 7.51475235e+01] [ 6.26866395e-03 -2.47313745e-05 9.99980351e-01 8.51249806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.44, Y:75.17, Z:0.85 [[ 4.22756392e-01 -9.06239443e-01 -2.66545055e-03 1.22437911e+02] [ 9.06221682e-01 4.22764795e-01 -5.67379879e-03 7.51734582e+01] [ 6.26867891e-03 -1.68543728e-05 9.99980352e-01 8.50929445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:75.20, Z:0.85 [[ 4.23686480e-01 -9.05804953e-01 -2.67474539e-03 1.22450040e+02] [ 9.05787210e-01 4.23694922e-01 -5.66942168e-03 7.51977864e+01] [ 6.26866628e-03 -2.06928476e-05 9.99980352e-01 8.50726416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.46, Y:75.22, Z:0.85 [[ 4.24015217e-01 -9.05651182e-01 -2.65195052e-03 1.22462511e+02] [ 9.05633369e-01 4.24023510e-01 -5.68014592e-03 7.52229161e+01] [ 6.26872023e-03 6.77342439e-06 9.99980351e-01 8.51914259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:75.25, Z:0.85 [[ 4.24347448e-01 -9.05495569e-01 -2.64895193e-03 1.22474975e+02] [ 9.05477745e-01 4.24355716e-01 -5.68155620e-03 7.52486472e+01] [ 6.26872186e-03 1.23868573e-05 9.99980351e-01 8.52604350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.301858064 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:122.49, Y:75.27, Z:0.85 [[ 4.24348088e-01 -9.05495215e-01 -2.66759824e-03 1.22486149e+02] [ 9.05477445e-01 4.24356472e-01 -5.67278787e-03 7.52721616e+01] [ 6.26869485e-03 -8.21335834e-06 9.99980352e-01 8.49780982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.331858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.50, Y:75.30, Z:0.85 [[ 4.23118575e-01 -9.06070475e-01 -2.63938318e-03 1.22499215e+02] [ 9.06052633e-01 4.23126807e-01 -5.68605350e-03 7.52987538e+01] [ 6.26875897e-03 1.44547797e-05 9.99980351e-01 8.53622406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:75.32, Z:0.85 [[ 4.22412600e-01 -9.06399737e-01 -2.66687985e-03 1.22511196e+02] [ 9.06381983e-01 4.22421018e-01 -5.67312760e-03 7.53239398e+01] [ 6.26866746e-03 -2.08112747e-05 9.99980352e-01 8.54218975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.391858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.52, Y:75.35, Z:0.86 [[ 4.21046721e-01 -9.07035035e-01 -2.66523656e-03 1.22522962e+02] [ 9.07017289e-01 4.21055155e-01 -5.67389951e-03 7.53483075e+01] [ 6.26863724e-03 -2.84388553e-05 9.99980352e-01 8.55583692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:75.37, Z:0.86 [[ 4.21135730e-01 -9.06993715e-01 -2.66415179e-03 1.22534362e+02] [ 9.06975965e-01 4.21144156e-01 -5.67440882e-03 7.53729556e+01] [ 6.26864509e-03 -2.66253388e-05 9.99980352e-01 8.56544668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:75.40, Z:0.86 [[ 4.20027601e-01 -9.07507475e-01 -2.64516003e-03 1.22546677e+02] [ 9.07489679e-01 4.20035930e-01 -5.68331656e-03 7.53989694e+01] [ 6.26871452e-03 -1.33056062e-05 9.99980351e-01 8.56853667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:75.42, Z:0.86 [[ 4.19909819e-01 -9.07561933e-01 -2.66114991e-03 1.22559255e+02] [ 9.07544185e-01 4.19918250e-01 -5.67581959e-03 7.54229481e+01] [ 6.26862321e-03 -3.17787495e-05 9.99980351e-01 8.58684926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:75.45, Z:0.86 [[ 4.19807114e-01 -9.07609508e-01 -2.63980652e-03 1.22570832e+02] [ 9.07591698e-01 4.19815414e-01 -5.68581907e-03 7.54474278e+01] [ 6.26873492e-03 -8.91918378e-06 9.99980351e-01 8.59222002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:75.47, Z:0.86 [[ 4.18184886e-01 -9.08358129e-01 -2.62895462e-03 1.22583399e+02] [ 9.08340302e-01 4.18193149e-01 -5.69090084e-03 7.54747764e+01] [ 6.26878685e-03 -8.13671007e-06 9.99980351e-01 8.59056585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:75.50, Z:0.86 [[ 4.20407699e-01 -9.07331416e-01 -2.65859325e-03 1.22599514e+02] [ 9.07313656e-01 4.20416105e-01 -5.67702084e-03 7.55026727e+01] [ 6.26865478e-03 -2.55146870e-05 9.99980351e-01 8.57308072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.61, Y:75.53, Z:0.86 [[ 4.20102643e-01 -9.07472509e-01 -2.72282656e-03 1.22610844e+02] [ 9.07454945e-01 4.20111455e-01 -5.64691382e-03 7.55270045e+01] [ 6.26830968e-03 -9.85590086e-05 9.99980349e-01 8.56481199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:75.55, Z:0.86 [[ 4.17385525e-01 -9.08725426e-01 -2.72479148e-03 1.22616514e+02] [ 9.08707894e-01 4.17394401e-01 -5.64599239e-03 7.55490440e+01] [ 6.26796955e-03 -1.19484038e-04 9.99980349e-01 8.57460232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.63, Y:75.57, Z:0.86 [[ 4.15987515e-01 -9.09366483e-01 -2.64320823e-03 1.22627883e+02] [ 9.09348719e-01 4.15995911e-01 -5.68417554e-03 7.55733568e+01] [ 6.26856254e-03 -3.90519564e-05 9.99980352e-01 8.56681058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:75.60, Z:0.86 [[ 4.15839041e-01 -9.09434403e-01 -2.63783697e-03 1.22639487e+02] [ 9.09416624e-01 4.15847406e-01 -5.68668754e-03 7.55983459e+01] [ 6.26860695e-03 -3.41460969e-05 9.99980352e-01 8.56851437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:75.63, Z:0.86 [[ 4.17162044e-01 -9.08828297e-01 -2.63724383e-03 1.22657153e+02] [ 9.08810504e-01 4.17170379e-01 -5.68696484e-03 7.56257522e+01] [ 6.26865458e-03 -2.43690145e-05 9.99980352e-01 8.55771378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:75.65, Z:0.86 [[ 4.11723694e-01 -9.11304772e-01 -2.68566755e-03 1.22665791e+02] [ 9.11287175e-01 4.11732437e-01 -5.66436889e-03 7.56515672e+01] [ 6.26774285e-03 -1.15259509e-04 9.99980351e-01 8.60376761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:122.68, Y:75.68, Z:0.86 [[ 4.13857964e-01 -9.10337586e-01 -2.65793644e-03 1.22684626e+02] [ 9.10319885e-01 4.13866494e-01 -5.67729864e-03 7.56798760e+01] [ 6.26828917e-03 -6.99771361e-05 9.99980352e-01 8.58314457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:75.70, Z:0.86 [[ 4.13757353e-01 -9.10383064e-01 -2.74410364e-03 1.22695647e+02] [ 9.10365626e-01 4.13766419e-01 -5.63708965e-03 7.57015140e+01] [ 6.26732888e-03 -1.65750331e-04 9.99980346e-01 8.55302746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.70, Y:75.73, Z:0.86 [[ 4.07953351e-01 -9.12998757e-01 -2.70793931e-03 1.22699952e+02] [ 9.12981265e-01 4.07962304e-01 -5.65398669e-03 7.57266822e+01] [ 6.26681998e-03 -1.65735041e-04 9.99980350e-01 8.59551278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:75.76, Z:0.86 [[ 4.11397538e-01 -9.11452163e-01 -2.64959935e-03 1.22720650e+02] [ 9.11434460e-01 4.11406063e-01 -5.68119533e-03 7.57560602e+01] [ 6.26819901e-03 -7.77063869e-05 9.99980352e-01 8.57200818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:122.73, Y:75.78, Z:0.86 [[ 4.10693753e-01 -9.11769128e-01 -2.77459844e-03 1.22731966e+02] [ 9.11751817e-01 4.10703066e-01 -5.62277000e-03 7.57809413e+01] [ 6.26620419e-03 -2.20508661e-04 9.99980343e-01 8.58651654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.931858064 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:122.74, Y:75.81, Z:0.86 [[ 4.09615157e-01 -9.12254229e-01 -2.76496702e-03 1.22742716e+02] [ 9.12236899e-01 4.09624431e-01 -5.62726450e-03 7.58075283e+01] [ 6.26609388e-03 -2.17292108e-04 9.99980344e-01 8.59605117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961858064 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:122.75, Y:75.83, Z:0.86 [[ 4.10984612e-01 -9.11638109e-01 -2.75799990e-03 1.22752321e+02] [ 9.11620743e-01 4.10993817e-01 -5.63051398e-03 7.58306400e+01] [ 6.26651203e-03 -2.00195320e-04 9.99980345e-01 8.59331475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99185806399998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:122.75, Y:75.85, Z:0.86 [[ 4.08200456e-01 -9.12888253e-01 -2.72487004e-03 1.22754333e+02] [ 9.12870812e-01 4.08209509e-01 -5.64597270e-03 7.58533015e+01] [ 6.26646002e-03 -1.82765700e-04 9.99980349e-01 8.59758509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.77, Y:75.88, Z:0.86 [[ 4.06855871e-01 -9.13488599e-01 -2.62296455e-03 1.22765375e+02] [ 9.13470860e-01 4.06864318e-01 -5.69341898e-03 7.58801152e+01] [ 6.26806401e-03 -7.96007471e-05 9.99980352e-01 8.63338015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.051858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:122.78, Y:75.91, Z:0.86 [[ 4.06411314e-01 -9.13686407e-01 -2.64457258e-03 1.22776094e+02] [ 9.13668737e-01 4.06419904e-01 -5.68336438e-03 7.59052155e+01] [ 6.26761971e-03 -1.06479705e-04 9.99980353e-01 8.63102030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.081858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.79, Y:75.93, Z:0.86 [[ 4.05850708e-01 -9.13935565e-01 -2.64314888e-03 1.22788746e+02] [ 9.13917896e-01 4.05859300e-01 -5.68402641e-03 7.59330639e+01] [ 6.26758045e-03 -1.08754919e-04 9.99980353e-01 8.63427207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.111858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.80, Y:75.96, Z:0.86 [[ 4.04318599e-01 -9.14614306e-01 -2.67231210e-03 1.22798130e+02] [ 9.14596740e-01 4.04327402e-01 -5.67046460e-03 7.59574723e+01] [ 6.26677705e-03 -1.51413635e-04 9.99980352e-01 8.63477410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:75.98, Z:0.86 [[ 4.04188298e-01 -9.14671987e-01 -2.64106023e-03 1.22810423e+02] [ 9.14654328e-01 4.04196910e-01 -5.68498321e-03 7.59834054e+01] [ 6.26740328e-03 -1.17853482e-04 9.99980353e-01 8.63385110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:76.01, Z:0.87 [[ 4.01562369e-01 -9.15827844e-01 -2.65025287e-03 1.22819675e+02] [ 9.15810237e-01 4.01571088e-01 -5.68071554e-03 7.60102473e+01] [ 6.26682239e-03 -1.45967118e-04 9.99980353e-01 8.65003190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.201858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:122.83, Y:76.04, Z:0.87 [[ 4.01038520e-01 -9.16057392e-01 -2.63803379e-03 1.22830216e+02] [ 9.16039753e-01 4.01047173e-01 -5.68638423e-03 7.60358420e+01] [ 6.26703030e-03 -1.36084702e-04 9.99980353e-01 8.65197562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.231858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.84, Y:76.06, Z:0.87 [[ 4.00488169e-01 -9.16298137e-01 -2.63644096e-03 1.22840723e+02] [ 9.16280498e-01 4.00496823e-01 -5.68712264e-03 7.60606786e+01] [ 6.26698610e-03 -1.38094105e-04 9.99980353e-01 8.65429575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:76.09, Z:0.87 [[ 4.00234306e-01 -9.16409055e-01 -2.63500249e-03 1.22851888e+02] [ 9.16391415e-01 4.00242956e-01 -5.68778904e-03 7.60860954e+01] [ 6.26698257e-03 -1.38245357e-04 9.99980353e-01 8.66261153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.86, Y:76.11, Z:0.86 [[ 4.01127856e-01 -9.16018290e-01 -2.63339501e-03 1.22861402e+02] [ 9.16000637e-01 4.01136479e-01 -5.68853319e-03 7.61107345e+01] [ 6.26715125e-03 -1.30362379e-04 9.99980353e-01 8.64467524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:76.14, Z:0.87 [[ 4.00294433e-01 -9.16382878e-01 -2.60555287e-03 1.22872400e+02] [ 9.16365147e-01 4.00302899e-01 -5.70140778e-03 7.61378339e+01] [ 6.26768283e-03 -1.05396043e-04 9.99980352e-01 8.66869677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.351858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.88, Y:76.16, Z:0.86 [[ 3.98627136e-01 -9.17109310e-01 -2.63044548e-03 1.22880424e+02] [ 9.17091671e-01 3.98635789e-01 -5.68989990e-03 7.61632629e+01] [ 6.26684989e-03 -1.44211142e-04 9.99980353e-01 8.62551465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:76.19, Z:0.87 [[ 4.02488102e-01 -9.15421535e-01 -2.59624928e-03 1.22892192e+02] [ 9.15403757e-01 4.02496467e-01 -5.70569546e-03 7.61902122e+01] [ 6.26809766e-03 -8.01418087e-05 9.99980352e-01 8.67589880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.411858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.90, Y:76.22, Z:0.87 [[ 4.03410850e-01 -9.15015179e-01 -2.62854814e-03 1.22902678e+02] [ 9.14997489e-01 4.03419398e-01 -5.69077674e-03 7.62161611e+01] [ 6.26755441e-03 -1.09393869e-04 9.99980353e-01 8.67887044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.91, Y:76.24, Z:0.87 [[ 4.06007777e-01 -9.13865846e-01 -2.62696257e-03 1.22912751e+02] [ 9.13848127e-01 4.06016265e-01 -5.69150858e-03 7.62429880e+01] [ 6.26786483e-03 -8.98480788e-05 9.99980353e-01 8.68178717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:76.27, Z:0.87 [[ 4.07140613e-01 -9.13361718e-01 -2.62545539e-03 1.22923143e+02] [ 9.13343984e-01 4.07149071e-01 -5.69220374e-03 7.62682247e+01] [ 6.26799271e-03 -8.04165638e-05 9.99980353e-01 8.67965963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:76.29, Z:0.87 [[ 4.08223535e-01 -9.12878229e-01 -2.62401440e-03 1.22933615e+02] [ 9.12860480e-01 4.08231962e-01 -5.69286794e-03 7.62938838e+01] [ 6.26810175e-03 -7.13963684e-05 9.99980353e-01 8.67707698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:76.32, Z:0.87 [[ 4.10998666e-01 -9.11632173e-01 -2.62242613e-03 1.22942441e+02] [ 9.11614395e-01 4.11007029e-01 -5.69359949e-03 7.63195379e+01] [ 6.26830405e-03 -5.05796130e-05 9.99980353e-01 8.66597428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.95, Y:76.35, Z:0.87 [[ 4.11967831e-01 -9.11194621e-01 -2.62101659e-03 1.22952865e+02] [ 9.11176829e-01 4.11976166e-01 -5.69424828e-03 7.63462009e+01] [ 6.26836477e-03 -4.23624757e-05 9.99980353e-01 8.66124408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:76.37, Z:0.87 [[ 4.12805262e-01 -9.10815544e-01 -2.61943883e-03 1.22963153e+02] [ 9.10797740e-01 4.12813571e-01 -5.69497398e-03 7.63729334e+01] [ 6.26841072e-03 -3.48637414e-05 9.99980353e-01 8.65681690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:122.97, Y:76.40, Z:0.87 [[ 4.15110945e-01 -9.09767030e-01 -2.61786956e-03 1.22972514e+02] [ 9.09749201e-01 4.15119200e-01 -5.69569526e-03 7.63987857e+01] [ 6.26848368e-03 -1.72592938e-05 9.99980353e-01 8.66038610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.651858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:122.99, Y:76.43, Z:0.87 [[ 4.17128359e-01 -9.08843818e-01 -2.61644934e-03 1.22987078e+02] [ 9.08825967e-01 4.17136565e-01 -5.69634759e-03 7.64274092e+01] [ 6.26850699e-03 -1.78897748e-06 9.99980353e-01 8.66393254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:76.45, Z:0.87 [[ 4.16352477e-01 -9.09199372e-01 -2.66771601e-03 1.22993633e+02] [ 9.09181677e-01 4.16361019e-01 -5.67277690e-03 7.64501972e+01] [ 6.26841815e-03 -6.35638000e-05 9.99980351e-01 8.66910260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:76.48, Z:0.87 [[ 4.17241278e-01 -9.08792007e-01 -2.60858147e-03 1.23003614e+02] [ 9.08774132e-01 4.17249432e-01 -5.69992340e-03 7.64751984e+01] [ 6.26847397e-03 7.63196160e-06 9.99980353e-01 8.67261356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.02, Y:76.51, Z:0.87 [[ 4.19970419e-01 -9.07534079e-01 -2.59675222e-03 1.23020363e+02] [ 9.07516145e-01 4.19978445e-01 -5.70535674e-03 7.65058205e+01] [ 6.26838563e-03 3.94864950e-05 9.99980353e-01 8.66597383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77185806399999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:123.02, Y:76.53, Z:0.87 [[ 4.17316723e-01 -9.08757074e-01 -2.70814767e-03 1.23024157e+02] [ 9.08739489e-01 4.17325497e-01 -5.65422566e-03 7.65283166e+01] [ 6.26849663e-03 -1.01397807e-04 9.99980348e-01 8.67321614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.801858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.03, Y:76.55, Z:0.87 [[ 4.17622527e-01 -9.08616867e-01 -2.61046596e-03 1.23034557e+02] [ 9.08598994e-01 4.17630685e-01 -5.69896971e-03 7.65542416e+01] [ 6.26839069e-03 8.15138744e-06 9.99980353e-01 8.67004610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:76.58, Z:0.87 [[ 4.17984626e-01 -9.08450354e-01 -2.60885572e-03 1.23044159e+02] [ 9.08432474e-01 4.17992768e-01 -5.69970675e-03 7.65801016e+01] [ 6.26838343e-03 1.24205435e-05 9.99980353e-01 8.66503471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.861858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:123.05, Y:76.61, Z:0.87 [[ 4.17337536e-01 -9.08747810e-01 -2.60740402e-03 1.23054725e+02] [ 9.08729932e-01 4.17345681e-01 -5.70037076e-03 7.66060121e+01] [ 6.26838826e-03 9.55261071e-06 9.99980353e-01 8.67259932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.891858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:123.07, Y:76.63, Z:0.87 [[ 4.16754143e-01 -9.09015508e-01 -2.60580728e-03 1.23065139e+02] [ 9.08997630e-01 4.16762289e-01 -5.70110059e-03 7.66320903e+01] [ 6.26839106e-03 7.28464803e-06 9.99980353e-01 8.67630587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.921858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.08, Y:76.66, Z:0.87 [[ 4.14844446e-01 -9.09888622e-01 -2.60418769e-03 1.23075076e+02] [ 9.09870756e-01 4.14852620e-01 -5.70184030e-03 7.66588736e+01] [ 6.26839370e-03 -4.09744438e-06 9.99980353e-01 8.68224748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:76.68, Z:0.87 [[ 4.13546600e-01 -9.10479234e-01 -2.60258058e-03 1.23086266e+02] [ 9.10461376e-01 4.13554789e-01 -5.70257376e-03 7.66847538e+01] [ 6.26838466e-03 -1.12691034e-05 9.99980353e-01 8.68813886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.981858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:123.10, Y:76.71, Z:0.87 [[ 4.12389894e-01 -9.11003738e-01 -2.60098536e-03 1.23097222e+02] [ 9.10985885e-01 4.12398096e-01 -5.70330127e-03 7.67098482e+01] [ 6.26837018e-03 -1.74771431e-05 9.99980353e-01 8.69443476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:76.74, Z:0.87 [[ 4.13681602e-01 -9.10417912e-01 -2.59954989e-03 1.23115295e+02] [ 9.10400044e-01 4.13689770e-01 -5.70395547e-03 7.67400448e+01] [ 6.26839043e-03 -7.00889548e-06 9.99980353e-01 8.70261585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.041858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.13, Y:76.77, Z:0.87 [[ 4.12244402e-01 -9.11069298e-01 -2.69940627e-03 1.23125402e+02] [ 9.11051735e-01 4.12253220e-01 -5.65845442e-03 7.67661533e+01] [ 6.26808303e-03 -1.26632610e-04 9.99980347e-01 8.72328806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:76.79, Z:0.87 [[ 4.13161628e-01 -9.10653727e-01 -2.69414289e-03 1.23137979e+02] [ 9.10636139e-01 4.13170396e-01 -5.66085890e-03 7.67919604e+01] [ 6.26822234e-03 -1.14534198e-04 9.99980348e-01 8.72915757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.15, Y:76.82, Z:0.87 [[ 4.09761613e-01 -9.12188590e-01 -2.71970600e-03 1.23145055e+02] [ 9.12171112e-01 4.09770605e-01 -5.64919766e-03 7.68190169e+01] [ 6.26758922e-03 -1.66012898e-04 9.99980345e-01 8.74673545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.131858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.16, Y:76.85, Z:0.87 [[ 4.11211694e-01 -9.11535896e-01 -2.69319029e-03 1.23159800e+02] [ 9.11518324e-01 4.11220494e-01 -5.66127602e-03 7.68457816e+01] [ 6.26795134e-03 -1.26909396e-04 9.99980348e-01 8.74544416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.16, Y:76.87, Z:0.87 [[ 4.05505910e-01 -9.14088306e-01 -2.74326035e-03 1.23159758e+02] [ 9.14070942e-01 4.05515129e-01 -5.63846444e-03 7.68661651e+01] [ 6.26648798e-03 -2.21103921e-04 9.99980341e-01 8.74317727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:76.90, Z:0.88 [[ 4.09427704e-01 -9.12338883e-01 -2.59193266e-03 1.23179211e+02] [ 9.12321032e-01 4.09435907e-01 -5.70719032e-03 7.68968309e+01] [ 6.26812194e-03 -2.79928559e-05 9.99980355e-01 8.78683938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:76.92, Z:0.88 [[ 4.08026524e-01 -9.12966058e-01 -2.70789682e-03 1.23189797e+02] [ 9.12948562e-01 4.08035476e-01 -5.65454271e-03 7.69242613e+01] [ 6.26732354e-03 -1.64967106e-04 9.99980347e-01 8.79431838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:76.95, Z:0.88 [[ 4.02775931e-01 -9.15294622e-01 -2.70274053e-03 1.23189885e+02] [ 9.15277162e-01 4.02784951e-01 -5.65688117e-03 7.69457797e+01] [ 6.26633612e-03 -1.95301102e-04 9.99980347e-01 8.75575609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:76.97, Z:0.88 [[ 4.02500954e-01 -9.15415919e-01 -2.58387751e-03 1.23200001e+02] [ 9.15398109e-01 4.02509243e-01 -5.71066263e-03 7.69711219e+01] [ 6.26766606e-03 -6.67294266e-05 9.99980356e-01 8.75061333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.22, Y:77.00, Z:0.88 [[ 4.05683036e-01 -9.14010178e-01 -2.58242021e-03 1.23217950e+02] [ 9.13992335e-01 4.05691253e-01 -5.71132157e-03 7.70005623e+01] [ 6.26787133e-03 -4.33259998e-05 9.99980356e-01 8.76986525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:77.02, Z:0.88 [[ 4.04949922e-01 -9.14334968e-01 -2.66950490e-03 1.23221215e+02] [ 9.14317388e-01 4.04958695e-01 -5.67178570e-03 7.70218791e+01] [ 6.26695122e-03 -1.43985568e-04 9.99980352e-01 8.75199199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.371858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.23, Y:77.05, Z:0.88 [[ 4.04254531e-01 -9.14642945e-01 -2.56075608e-03 1.23232446e+02] [ 9.14625053e-01 4.04262641e-01 -5.72100676e-03 7.70492530e+01] [ 6.26789649e-03 -2.93887584e-05 9.99980356e-01 8.75329435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.24, Y:77.08, Z:0.88 [[ 4.04673494e-01 -9.14457590e-01 -2.58433959e-03 1.23241852e+02] [ 9.14439763e-01 4.04681743e-01 -5.71033352e-03 7.70751761e+01] [ 6.26769288e-03 -5.24022636e-05 9.99980356e-01 8.76146632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:77.10, Z:0.88 [[ 4.06363505e-01 -9.13707848e-01 -2.58291019e-03 1.23256465e+02] [ 9.13690000e-01 4.06371711e-01 -5.71098000e-03 7.71034127e+01] [ 6.26778887e-03 -3.92453622e-05 9.99980356e-01 8.78560565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.26, Y:77.13, Z:0.88 [[ 4.04651086e-01 -9.14467373e-01 -2.63087414e-03 1.23262509e+02] [ 9.14449681e-01 4.04659625e-01 -5.68928841e-03 7.71270573e+01] [ 6.26727717e-03 -1.03625281e-04 9.99980355e-01 8.76923760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:77.16, Z:0.88 [[ 4.07184731e-01 -9.13342181e-01 -2.57960256e-03 1.23277825e+02] [ 9.13324318e-01 4.07192901e-01 -5.71244144e-03 7.71552587e+01] [ 6.26780958e-03 -2.99948149e-05 9.99980357e-01 8.79736947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:77.18, Z:0.88 [[ 4.05555708e-01 -9.14066534e-01 -2.63405295e-03 1.23283849e+02] [ 9.14048843e-01 4.05564249e-01 -5.68784776e-03 7.71789051e+01] [ 6.26734900e-03 -1.00913925e-04 9.99980355e-01 8.78385358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.29, Y:77.20, Z:0.88 [[ 4.05309872e-01 -9.14175731e-01 -2.57713484e-03 1.23294763e+02] [ 9.14157877e-01 4.05318063e-01 -5.71352120e-03 7.72046913e+01] [ 6.26772172e-03 -4.01615707e-05 9.99980357e-01 8.80503198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:77.23, Z:0.88 [[ 4.05688309e-01 -9.14007856e-01 -2.57606784e-03 1.23304506e+02] [ 9.13989995e-01 4.05696486e-01 -5.71400208e-03 7.72314994e+01] [ 6.26774446e-03 -3.63963942e-05 9.99980357e-01 8.77655703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.32, Y:77.26, Z:0.88 [[ 4.05423816e-01 -9.14125214e-01 -2.57351782e-03 1.23316185e+02] [ 9.14107349e-01 4.05431983e-01 -5.71515035e-03 7.72575791e+01] [ 6.26774946e-03 -3.54134889e-05 9.99980357e-01 8.77833920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:77.28, Z:0.88 [[ 4.05209164e-01 -9.14220389e-01 -2.57186385e-03 1.23325431e+02] [ 9.14202521e-01 4.05217324e-01 -5.71589455e-03 7.72828632e+01] [ 6.26775112e-03 -3.50715618e-05 9.99980357e-01 8.77360648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:77.31, Z:0.88 [[ 4.05407348e-01 -9.14132526e-01 -2.57037624e-03 1.23335424e+02] [ 9.14114652e-01 4.05415495e-01 -5.71656343e-03 7.73095430e+01] [ 6.26776693e-03 -3.20817558e-05 9.99980357e-01 8.76548886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:77.34, Z:0.88 [[ 4.06475434e-01 -9.13658100e-01 -2.56873894e-03 1.23344947e+02] [ 9.13640212e-01 4.06483550e-01 -5.71729906e-03 7.73350571e+01] [ 6.26780672e-03 -2.29615718e-05 9.99980357e-01 8.75799354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.36, Y:77.36, Z:0.88 [[ 4.07166130e-01 -9.13350509e-01 -2.56726164e-03 1.23356335e+02] [ 9.13332610e-01 4.07174224e-01 -5.71796234e-03 7.73605241e+01] [ 6.26782658e-03 -1.66031701e-05 9.99980357e-01 8.75967725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.37, Y:77.39, Z:0.88 [[ 4.07590734e-01 -9.13161109e-01 -2.56564345e-03 1.23367258e+02] [ 9.13143202e-01 4.07598808e-01 -5.71868833e-03 7.73860202e+01] [ 6.26783699e-03 -1.19155041e-05 9.99980357e-01 8.75881505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:77.41, Z:0.87 [[ 4.08837173e-01 -9.12603743e-01 -2.56402684e-03 1.23376144e+02] [ 9.12585821e-01 4.08845213e-01 -5.71941306e-03 7.74116473e+01] [ 6.26784786e-03 -1.58587134e-06 9.99980357e-01 8.74602688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.39, Y:77.44, Z:0.87 [[ 4.09187310e-01 -9.12446809e-01 -2.56256724e-03 1.23386190e+02] [ 9.12428879e-01 4.09195334e-01 -5.72006695e-03 7.74374001e+01] [ 6.26784739e-03 2.41845133e-06 9.99980357e-01 8.73367633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:77.46, Z:0.87 [[ 4.09725981e-01 -9.12205055e-01 -2.56095242e-03 1.23396239e+02] [ 9.12187116e-01 4.09733984e-01 -5.72078984e-03 7.74621579e+01] [ 6.26784265e-03 7.88842006e-06 9.99980357e-01 8.71959207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:77.49, Z:0.87 [[ 4.09689572e-01 -9.12221411e-01 -2.55950007e-03 1.23406641e+02] [ 9.12203469e-01 4.09697567e-01 -5.72143955e-03 7.74877834e+01] [ 6.26784061e-03 9.22928371e-06 9.99980357e-01 8.70421328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:77.52, Z:0.87 [[ 4.14030298e-01 -9.10259507e-01 -2.55786848e-03 1.23427283e+02] [ 9.10241522e-01 4.14038197e-01 -5.72216889e-03 7.75177404e+01] [ 6.26771388e-03 4.08731944e-05 9.99980357e-01 8.68632626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:77.54, Z:0.87 [[ 4.15181639e-01 -9.09734615e-01 -2.67155532e-03 1.23443476e+02] [ 9.09716942e-01 4.15190227e-01 -5.67108448e-03 7.75444876e+01] [ 6.26838552e-03 -7.58289837e-05 9.99980351e-01 8.67278205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:77.56, Z:0.87 [[ 4.07204150e-01 -9.13333094e-01 -2.72753384e-03 1.23442639e+02] [ 9.13315663e-01 4.07213240e-01 -5.64591834e-03 7.75636757e+01] [ 6.26729196e-03 -1.92057997e-04 9.99980342e-01 8.68804356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:77.59, Z:0.87 [[ 4.04423600e-01 -9.14568197e-01 -2.56219431e-03 1.23454808e+02] [ 9.14550310e-01 4.04431715e-01 -5.71998025e-03 7.75873089e+01] [ 6.26754466e-03 -2.99605954e-05 9.99980358e-01 8.67760224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:77.61, Z:0.87 [[ 4.01406759e-01 -9.15896378e-01 -2.53750363e-03 1.23466969e+02] [ 9.15878448e-01 4.01414779e-01 -5.73102873e-03 7.76134190e+01] [ 6.26761992e-03 -2.35712160e-05 9.99980358e-01 8.68890518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:77.64, Z:0.87 [[ 3.99300682e-01 -9.16816455e-01 -2.55989287e-03 1.23478356e+02] [ 9.16798607e-01 3.99308883e-01 -5.72101057e-03 7.76379526e+01] [ 6.26730459e-03 -6.25027968e-05 9.99980358e-01 8.68802980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.091858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:123.49, Y:77.66, Z:0.87 [[ 3.97553824e-01 -9.17575289e-01 -2.55847080e-03 1.23490297e+02] [ 9.17557453e-01 3.97562049e-01 -5.72164645e-03 7.76629038e+01] [ 6.26719229e-03 -7.28815288e-05 9.99980358e-01 8.68481719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.50, Y:77.69, Z:0.87 [[ 3.94686183e-01 -9.18812429e-01 -2.55690076e-03 1.23503961e+02] [ 9.18794614e-01 3.94694455e-01 -5.72234799e-03 7.76873007e+01] [ 6.26695901e-03 -9.07349584e-05 9.99980358e-01 8.68973705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:77.71, Z:0.87 [[ 3.93841834e-01 -9.19174673e-01 -2.55529572e-03 1.23516825e+02] [ 9.19156861e-01 3.93850112e-01 -5.72306463e-03 7.77121428e+01] [ 6.26689956e-03 -9.47353214e-05 9.99980358e-01 8.69378358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:77.74, Z:0.87 [[ 3.98422234e-01 -9.17198586e-01 -2.54518980e-03 1.23540435e+02] [ 9.17180704e-01 3.98430360e-01 -5.72757407e-03 7.77415281e+01] [ 6.26740373e-03 -5.24061193e-05 9.99980358e-01 8.67422614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:77.76, Z:0.87 [[ 3.92574321e-01 -9.19716368e-01 -2.68428078e-03 1.23541167e+02] [ 9.19698951e-01 3.92583422e-01 -5.66540443e-03 7.77614578e+01] [ 6.26436931e-03 -2.44637925e-04 9.99980349e-01 8.68945247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:77.79, Z:0.87 [[ 3.92754739e-01 -9.19639746e-01 -2.53998039e-03 1.23554574e+02] [ 9.19621901e-01 3.92762943e-01 -5.72970973e-03 7.77872757e+01] [ 6.26687898e-03 -8.54509400e-05 9.99980359e-01 8.69987072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:77.81, Z:0.87 [[ 3.92732499e-01 -9.19649215e-01 -2.55049074e-03 1.23566364e+02] [ 9.19631400e-01 3.92740769e-01 -5.72502739e-03 7.78115613e+01] [ 6.26669864e-03 -9.71070490e-05 9.99980359e-01 8.70976473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:77.84, Z:0.87 [[ 3.93131307e-01 -9.19478807e-01 -2.54934600e-03 1.23578504e+02] [ 9.19460985e-01 3.93139562e-01 -5.72553710e-03 7.78368430e+01] [ 6.26675879e-03 -9.31363021e-05 9.99980359e-01 8.71791222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.331858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.59, Y:77.86, Z:0.87 [[ 3.93384707e-01 -9.19370427e-01 -2.54775747e-03 1.23591179e+02] [ 9.19352598e-01 3.93392947e-01 -5.72624387e-03 7.78626348e+01] [ 6.26680909e-03 -8.96706863e-05 9.99980359e-01 8.72478713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:77.89, Z:0.87 [[ 3.93622491e-01 -9.19268617e-01 -2.55833547e-03 1.23602394e+02] [ 9.19250816e-01 3.93630793e-01 -5.72153997e-03 7.78873419e+01] [ 6.26667175e-03 -9.96251556e-05 9.99980359e-01 8.72599666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:77.91, Z:0.87 [[ 3.94139253e-01 -9.19047182e-01 -2.55489971e-03 1.23613940e+02] [ 9.19029367e-01 3.94147523e-01 -5.72306672e-03 7.79128804e+01] [ 6.26677573e-03 -9.23426226e-05 9.99980359e-01 8.73638971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:77.94, Z:0.87 [[ 3.94231521e-01 -9.19007638e-01 -2.54327628e-03 1.23625700e+02] [ 9.18989790e-01 3.94239717e-01 -5.72822741e-03 7.79377997e+01] [ 6.26694527e-03 -7.89971329e-05 9.99980359e-01 8.74173881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:77.96, Z:0.87 [[ 3.94067423e-01 -9.19078019e-01 -2.54186643e-03 1.23637351e+02] [ 9.19060168e-01 3.94075613e-01 -5.72885296e-03 7.79638272e+01] [ 6.26695040e-03 -7.85738662e-05 9.99980359e-01 8.74530764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.481858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:123.66, Y:77.99, Z:0.87 [[ 3.99360219e-01 -9.16790577e-01 -2.54028990e-03 1.23660523e+02] [ 9.16772674e-01 3.99368296e-01 -5.72955194e-03 7.79948922e+01] [ 6.26731048e-03 -4.07132493e-05 9.99980359e-01 8.70988745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.511858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.66, Y:78.01, Z:0.87 [[ 3.91905294e-01 -9.20001573e-01 -2.71019331e-03 1.23658432e+02] [ 9.19984241e-01 3.91914567e-01 -5.65404018e-03 7.80137226e+01] [ 6.26389010e-03 -2.77486858e-04 9.99980343e-01 8.71855800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:78.04, Z:0.87 [[ 3.92334890e-01 -9.19818972e-01 -2.52852058e-03 1.23669146e+02] [ 9.19801099e-01 3.92343031e-01 -5.73452720e-03 7.80392457e+01] [ 6.26677434e-03 -7.58809030e-05 9.99980361e-01 8.73814697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:78.07, Z:0.87 [[ 3.93552142e-01 -9.19298793e-01 -2.53798884e-03 1.23685042e+02] [ 9.19280936e-01 3.93560318e-01 -5.73033367e-03 7.80677986e+01] [ 6.26674052e-03 -7.79396628e-05 9.99980361e-01 8.72345658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.69, Y:78.09, Z:0.87 [[ 3.89583384e-01 -9.20987527e-01 -2.60056490e-03 1.23692760e+02] [ 9.20969888e-01 3.89592025e-01 -5.70261950e-03 7.80935246e+01] [ 6.26520078e-03 -1.73396160e-04 9.99980358e-01 8.72403336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:78.12, Z:0.87 [[ 3.87272057e-01 -9.21961912e-01 -2.56655087e-03 1.23700943e+02] [ 9.21944195e-01 3.87280532e-01 -5.71766598e-03 7.81179085e+01] [ 6.26544544e-03 -1.51924413e-04 9.99980360e-01 8.72560861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:78.15, Z:0.87 [[ 3.85000653e-01 -9.22912825e-01 -2.53293749e-03 1.23712541e+02] [ 9.22895030e-01 3.85008963e-01 -5.73251820e-03 7.81456624e+01] [ 6.26581820e-03 -1.30612177e-04 9.99980361e-01 8.71106715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:78.17, Z:0.87 [[ 3.84271185e-01 -9.23216736e-01 -2.55260200e-03 1.23722949e+02] [ 9.23199005e-01 3.84279631e-01 -5.72383285e-03 7.81711136e+01] [ 6.26525123e-03 -1.57055600e-04 9.99980361e-01 8.72836565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:78.20, Z:0.87 [[ 3.81629444e-01 -9.24311943e-01 -2.52982275e-03 1.23732728e+02] [ 9.24294170e-01 3.81637799e-01 -5.73388319e-03 7.81968637e+01] [ 6.26537269e-03 -1.50081767e-04 9.99980361e-01 8.70798295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:78.22, Z:0.87 [[ 3.81289877e-01 -9.24452074e-01 -2.52845527e-03 1.23743109e+02] [ 9.24434300e-01 3.81298230e-01 -5.73448614e-03 7.82211690e+01] [ 6.26535312e-03 -1.50889264e-04 9.99980361e-01 8.73229177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:78.25, Z:0.88 [[ 3.81084447e-01 -9.24536781e-01 -2.52693286e-03 1.23755570e+02] [ 9.24519005e-01 3.81092795e-01 -5.73515692e-03 7.82484785e+01] [ 6.26535942e-03 -1.50618349e-04 9.99980361e-01 8.75033526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:78.27, Z:0.88 [[ 3.81217761e-01 -9.24481771e-01 -2.54435574e-03 1.23764714e+02] [ 9.24464044e-01 3.81226215e-01 -5.72748358e-03 7.82725360e+01] [ 6.26492927e-03 -1.68746930e-04 9.99980361e-01 8.75715634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:78.30, Z:0.88 [[ 3.82072937e-01 -9.24128724e-01 -2.52428909e-03 1.23775750e+02] [ 9.24110931e-01 3.82081249e-01 -5.73631399e-03 7.82994742e+01] [ 6.26557606e-03 -1.41032809e-04 9.99980361e-01 8.76206864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:78.32, Z:0.88 [[ 3.82972785e-01 -9.23756147e-01 -2.53519996e-03 1.23785491e+02] [ 9.23738377e-01 3.82981148e-01 -5.73151344e-03 7.83249991e+01] [ 6.26545456e-03 -1.46847834e-04 9.99980361e-01 8.76877307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:78.35, Z:0.88 [[ 3.85957058e-01 -9.22513300e-01 -2.52207648e-03 1.23794672e+02] [ 9.22495466e-01 3.85965282e-01 -5.73728245e-03 7.83512173e+01] [ 6.26615332e-03 -1.12259464e-04 9.99980361e-01 8.76308801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.80, Y:78.38, Z:0.88 [[ 3.87962765e-01 -9.21671574e-01 -2.53050037e-03 1.23804241e+02] [ 9.21653746e-01 3.87971003e-01 -5.73358169e-03 7.83756100e+01] [ 6.26624003e-03 -1.07828937e-04 9.99980361e-01 8.77270113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.81, Y:78.40, Z:0.88 [[ 3.89897035e-01 -9.20855014e-01 -2.51881317e-03 1.23814511e+02] [ 9.20837136e-01 3.89905162e-01 -5.73871139e-03 7.84018775e+01] [ 6.26661942e-03 -8.19101533e-05 9.99980361e-01 8.77201037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:78.43, Z:0.88 [[ 3.91387140e-01 -9.20222674e-01 -2.51735595e-03 1.23823959e+02] [ 9.20204779e-01 3.91395229e-01 -5.73935055e-03 7.84268850e+01] [ 6.26676162e-03 -7.01749769e-05 9.99980361e-01 8.77010681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.83, Y:78.45, Z:0.88 [[ 3.93891134e-01 -9.19153657e-01 -2.51581760e-03 1.23833268e+02] [ 9.19135736e-01 3.93899165e-01 -5.74002480e-03 7.84532938e+01] [ 6.26694324e-03 -5.14329900e-05 9.99980361e-01 8.77824791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:78.48, Z:0.88 [[ 3.94701676e-01 -9.18805891e-01 -2.51422756e-03 1.23844174e+02] [ 9.18787958e-01 3.94709681e-01 -5.74072118e-03 7.84793960e+01] [ 6.26699840e-03 -4.41697303e-05 9.99980361e-01 8.78139221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:78.50, Z:0.88 [[ 3.95314397e-01 -9.18542440e-01 -2.51259006e-03 1.23854652e+02] [ 9.18524497e-01 3.95322380e-01 -5.74143779e-03 7.85043548e+01] [ 6.26703736e-03 -3.82025074e-05 9.99980361e-01 8.76128285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:78.53, Z:0.88 [[ 3.95824844e-01 -9.18322594e-01 -2.51112667e-03 1.23865203e+02] [ 9.18304643e-01 3.95832808e-01 -5.74207776e-03 7.85305980e+01] [ 6.26706606e-03 -3.31222438e-05 9.99980361e-01 8.78054226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:78.56, Z:0.88 [[ 3.95871815e-01 -9.18302351e-01 -2.50951768e-03 1.23876647e+02] [ 9.18284395e-01 3.95879768e-01 -5.74278087e-03 7.85566846e+01] [ 6.26707645e-03 -3.10458351e-05 9.99980361e-01 8.78470077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:78.58, Z:0.88 [[ 3.95705585e-01 -9.18373998e-01 -2.50787389e-03 1.23887646e+02] [ 9.18356039e-01 3.95713531e-01 -5.74349862e-03 7.85818457e+01] [ 6.26707942e-03 -3.03866501e-05 9.99980361e-01 8.75555733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:78.61, Z:0.88 [[ 3.95109377e-01 -9.18630665e-01 -2.50641028e-03 1.23899360e+02] [ 9.18612706e-01 3.95117325e-01 -5.74413726e-03 7.86078780e+01] [ 6.26706675e-03 -3.28578349e-05 9.99980361e-01 8.78390132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:78.63, Z:0.88 [[ 3.93512506e-01 -9.19315851e-01 -2.50480558e-03 1.23910727e+02] [ 9.19297902e-01 3.93520476e-01 -5.74483692e-03 7.86320054e+01] [ 6.26701192e-03 -4.19973335e-05 9.99980361e-01 8.78439003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:78.66, Z:0.88 [[ 3.92548992e-01 -9.19727689e-01 -2.50337173e-03 1.23922504e+02] [ 9.19709744e-01 3.92556972e-01 -5.74546167e-03 7.86582238e+01] [ 6.26697621e-03 -4.70001816e-05 9.99980361e-01 8.78685152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:78.68, Z:0.88 [[ 3.92070311e-01 -9.19931840e-01 -2.50601969e-03 1.23933504e+02] [ 9.19913907e-01 3.92078317e-01 -5.74430824e-03 7.86824399e+01] [ 6.26692803e-03 -5.31496440e-05 9.99980361e-01 8.78118828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:78.71, Z:0.88 [[ 3.93171728e-01 -9.19461655e-01 -2.50126944e-03 1.23950637e+02] [ 9.19443699e-01 3.93179682e-01 -5.74637592e-03 7.87103634e+01] [ 6.26702064e-03 -4.04638764e-05 9.99980361e-01 8.79668361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:78.74, Z:0.88 [[ 3.91771404e-01 -9.20059054e-01 -2.55034657e-03 1.23960814e+02] [ 9.20041247e-01 3.91779691e-01 -5.72508199e-03 7.87363123e+01] [ 6.26658751e-03 -1.03500628e-04 9.99980359e-01 8.82408030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.97, Y:78.76, Z:0.88 [[ 3.91840043e-01 -9.20029852e-01 -2.54018497e-03 1.23971342e+02] [ 9.20012016e-01 3.91848265e-01 -5.72948796e-03 7.87606214e+01] [ 6.26666703e-03 -9.19578897e-05 9.99980360e-01 8.81058245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:78.79, Z:0.88 [[ 3.91740996e-01 -9.20072065e-01 -2.52738148e-03 1.23983404e+02] [ 9.20054194e-01 3.91749141e-01 -5.73503228e-03 7.87872799e+01] [ 6.26674252e-03 -7.86806744e-05 9.99980361e-01 8.83454071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:78.81, Z:0.88 [[ 3.92268945e-01 -9.19847062e-01 -2.54108965e-03 1.23994900e+02] [ 9.19829225e-01 3.92277165e-01 -5.72909867e-03 7.88115247e+01] [ 6.26670602e-03 -9.00210322e-05 9.99980360e-01 8.84273902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:78.83, Z:0.88 [[ 3.90294707e-01 -9.20686477e-01 -2.54026112e-03 1.24002130e+02] [ 9.20668655e-01 3.90302960e-01 -5.72945707e-03 7.88343886e+01] [ 6.26650508e-03 -1.02562019e-04 9.99980360e-01 8.82144581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.01, Y:78.86, Z:0.88 [[ 3.90047445e-01 -9.20791408e-01 -2.48490922e-03 1.24013351e+02] [ 9.20773434e-01 3.90055358e-01 -5.75336387e-03 7.88606576e+01] [ 6.26690017e-03 -4.39535192e-05 9.99980362e-01 8.82304785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:78.89, Z:0.88 [[ 3.91867659e-01 -9.20018245e-01 -2.48336396e-03 1.24028834e+02] [ 9.20000252e-01 3.91875526e-01 -5.75403078e-03 7.88886116e+01] [ 6.26698286e-03 -2.98768991e-05 9.99980362e-01 8.83911820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:78.91, Z:0.88 [[ 3.89281548e-01 -9.21115321e-01 -2.53800202e-03 1.24037497e+02] [ 9.21097502e-01 3.89289807e-01 -5.73044099e-03 7.89105804e+01] [ 6.26641531e-03 -1.06992381e-04 9.99980360e-01 8.83769787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:78.94, Z:0.89 [[ 3.88898209e-01 -9.21277389e-01 -2.48097881e-03 1.24049776e+02] [ 9.21259415e-01 3.88906120e-01 -5.75502359e-03 7.89363318e+01] [ 6.26684095e-03 -4.75067223e-05 9.99980362e-01 8.85042406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:78.96, Z:0.89 [[ 3.89647900e-01 -9.20960567e-01 -2.47937322e-03 1.24065114e+02] [ 9.20942582e-01 3.89655786e-01 -5.75571523e-03 7.89640230e+01] [ 6.26688889e-03 -4.06580177e-05 9.99980362e-01 8.86359803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:78.99, Z:0.89 [[ 3.87651128e-01 -9.21802692e-01 -2.53002517e-03 1.24074067e+02] [ 9.21784865e-01 3.87659368e-01 -5.73388736e-03 7.89865575e+01] [ 6.26630076e-03 -1.09391011e-04 9.99980361e-01 8.85763554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.09, Y:79.01, Z:0.88 [[ 3.87264466e-01 -9.21965345e-01 -2.47695054e-03 1.24085797e+02] [ 9.21947374e-01 3.87272384e-01 -5.75672384e-03 7.90115468e+01] [ 6.26675442e-03 -5.42434623e-05 9.99980362e-01 8.84894291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.10, Y:79.04, Z:0.88 [[ 3.88929311e-01 -9.21264273e-01 -2.47589312e-03 1.24101236e+02] [ 9.21246285e-01 3.88937190e-01 -5.75717859e-03 7.90374955e+01] [ 6.26684985e-03 -4.17718316e-05 9.99980362e-01 8.84279250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:79.06, Z:0.89 [[ 3.86387642e-01 -9.22333046e-01 -2.51836943e-03 1.24109886e+02] [ 9.22315198e-01 3.86395834e-01 -5.73892345e-03 7.90611352e+01] [ 6.26628620e-03 -1.05281306e-04 9.99980361e-01 8.86635733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:79.09, Z:0.89 [[ 3.86631031e-01 -9.22231181e-01 -2.46871133e-03 1.24126323e+02] [ 9.22213193e-01 3.86638909e-01 -5.76023586e-03 7.90888045e+01] [ 6.26676897e-03 -4.95922315e-05 9.99980362e-01 8.87438940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:79.11, Z:0.89 [[ 3.85510701e-01 -9.22699915e-01 -2.52303299e-03 1.24134288e+02] [ 9.22682088e-01 3.85518940e-01 -5.73691664e-03 7.91109682e+01] [ 6.26612950e-03 -1.16314591e-04 9.99980361e-01 8.87453336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.15, Y:79.14, Z:0.89 [[ 3.84921312e-01 -9.22946092e-01 -2.46896984e-03 1.24147568e+02] [ 9.22928119e-01 3.84929225e-01 -5.76008995e-03 7.91361356e+01] [ 6.26663115e-03 -6.15003143e-05 9.99980363e-01 8.87403859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:79.16, Z:0.89 [[ 3.84239328e-01 -9.23230237e-01 -2.46350397e-03 1.24160581e+02] [ 9.23212255e-01 3.84247220e-01 -5.76243151e-03 7.91624238e+01] [ 6.26664556e-03 -6.01842424e-05 9.99980363e-01 8.88499837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:79.19, Z:0.89 [[ 3.83341303e-01 -9.23603464e-01 -2.46699618e-03 1.24172775e+02] [ 9.23585500e-01 3.83349235e-01 -5.76093605e-03 7.91864692e+01] [ 6.26654159e-03 -7.00771696e-05 9.99980363e-01 8.88452553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.19, Y:79.21, Z:0.89 [[ 3.82567197e-01 -9.23924381e-01 -2.46554398e-03 1.24185282e+02] [ 9.23906419e-01 3.82575135e-01 -5.76155749e-03 7.92113026e+01] [ 6.26649926e-03 -7.37490141e-05 9.99980363e-01 8.88437275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.20, Y:79.24, Z:0.89 [[ 3.82250137e-01 -9.24055605e-01 -2.46394664e-03 1.24199849e+02] [ 9.24037642e-01 3.82258071e-01 -5.76224052e-03 7.92358218e+01] [ 6.26649414e-03 -7.41622144e-05 9.99980363e-01 8.88113182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:79.26, Z:0.89 [[ 3.82206188e-01 -9.24073789e-01 -2.46234582e-03 1.24212216e+02] [ 9.24055821e-01 3.82214112e-01 -5.76292451e-03 7.92608461e+01] [ 6.26651080e-03 -7.27195800e-05 9.99980363e-01 8.87844314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.22, Y:79.29, Z:0.88 [[ 3.80784223e-01 -9.24660651e-01 -2.46074809e-03 1.24223390e+02] [ 9.24642692e-01 3.80792165e-01 -5.76360665e-03 7.92869279e+01] [ 6.26641387e-03 -8.06222592e-05 9.99980363e-01 8.81550748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:79.31, Z:0.88 [[ 3.84688963e-01 -9.23042981e-01 -2.46089962e-03 1.24239184e+02] [ 9.23024989e-01 3.84696831e-01 -5.76354197e-03 7.93115351e+01] [ 6.26669725e-03 -5.43008570e-05 9.99980363e-01 8.83465360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.25, Y:79.34, Z:0.89 [[ 3.85243080e-01 -9.22811803e-01 -2.47921423e-03 1.24250915e+02] [ 9.22793855e-01 3.85251051e-01 -5.75571880e-03 7.93356127e+01] [ 6.26656513e-03 -7.04528221e-05 9.99980362e-01 8.87855940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.26, Y:79.36, Z:0.89 [[ 3.87504353e-01 -9.21864554e-01 -2.47391857e-03 1.24262558e+02] [ 9.21846573e-01 3.87512247e-01 -5.75798054e-03 7.93580177e+01] [ 6.26675190e-03 -4.93308316e-05 9.99980363e-01 8.86492930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:79.38, Z:0.89 [[ 3.89123223e-01 -9.21182493e-01 -2.43558184e-03 1.24279122e+02] [ 9.21164395e-01 3.89130845e-01 -5.77433630e-03 7.93842056e+01] [ 6.26697753e-03 3.35708085e-06 9.99980362e-01 8.85668105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:79.41, Z:0.89 [[ 3.89314560e-01 -9.21101540e-01 -2.47509817e-03 1.24293593e+02] [ 9.21083547e-01 3.89322426e-01 -5.75750707e-03 7.94108322e+01] [ 6.26685986e-03 -3.82908695e-05 9.99980362e-01 8.86241931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.31, Y:79.43, Z:0.89 [[ 3.89743038e-01 -9.20920241e-01 -2.50484147e-03 1.24305078e+02] [ 9.20902324e-01 3.89751082e-01 -5.74484642e-03 7.94336038e+01] [ 6.26681002e-03 -6.77004350e-05 9.99980361e-01 8.85453870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:79.46, Z:0.88 [[ 3.88524686e-01 -9.21434991e-01 -2.47479287e-03 1.24317498e+02] [ 9.21417004e-01 3.88532566e-01 -5.75762201e-03 7.94592088e+01] [ 6.26681201e-03 -4.33379434e-05 9.99980362e-01 8.84088892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.251858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:124.33, Y:79.48, Z:0.89 [[ 3.89451898e-01 -9.21043493e-01 -2.47040956e-03 1.24332610e+02] [ 9.21025486e-01 3.89459732e-01 -5.75948548e-03 7.94805416e+01] [ 6.26686167e-03 -3.22676162e-05 9.99980363e-01 8.87669366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.35, Y:79.51, Z:0.89 [[ 3.88734448e-01 -9.21346652e-01 -2.42389413e-03 1.24348431e+02] [ 9.21328527e-01 3.88742005e-01 -5.77923926e-03 7.95086194e+01] [ 6.26695221e-03 1.33865769e-05 9.99980362e-01 8.88451197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.36, Y:79.53, Z:0.89 [[ 3.87845156e-01 -9.21721172e-01 -2.49331430e-03 1.24360931e+02] [ 9.21703240e-01 3.87853165e-01 -5.74979663e-03 7.95321320e+01] [ 6.26674913e-03 -6.80650987e-05 9.99980361e-01 8.88490830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:124.38, Y:79.55, Z:0.89 [[ 3.89833856e-01 -9.20881872e-01 -2.47845325e-03 1.24379204e+02] [ 9.20863883e-01 3.89841733e-01 -5.75609716e-03 7.95546121e+01] [ 6.26689003e-03 -3.83965278e-05 9.99980362e-01 8.88496110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.371858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:124.39, Y:79.58, Z:0.89 [[ 3.88699986e-01 -9.21361047e-01 -2.47840149e-03 1.24393107e+02] [ 9.21343067e-01 3.88707885e-01 -5.75611906e-03 7.95817886e+01] [ 6.26683808e-03 -4.60546269e-05 9.99980362e-01 8.88851366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:79.60, Z:0.89 [[ 3.89770312e-01 -9.20908710e-01 -2.50044166e-03 1.24405106e+02] [ 9.20890781e-01 3.89778328e-01 -5.74679162e-03 7.96042860e+01] [ 6.26688843e-03 -6.27049067e-05 9.99980361e-01 8.87569892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:79.63, Z:0.89 [[ 3.88614108e-01 -9.21397289e-01 -2.47216136e-03 1.24418773e+02] [ 9.21379293e-01 3.88621969e-01 -5.75874319e-03 7.96313146e+01] [ 6.26682658e-03 -3.98694355e-05 9.99980362e-01 8.88425644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:79.65, Z:0.89 [[ 3.89912689e-01 -9.20848443e-01 -2.49811402e-03 1.24433649e+02] [ 9.20830506e-01 3.89920687e-01 -5.74777923e-03 7.96533500e+01] [ 6.26689988e-03 -5.92075449e-05 9.99980361e-01 8.86625903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.44, Y:79.68, Z:0.89 [[ 3.87151043e-01 -9.22012961e-01 -2.48377543e-03 1.24442769e+02] [ 9.21995010e-01 3.87159005e-01 -5.75384218e-03 7.96768406e+01] [ 6.26673309e-03 -6.24225458e-05 9.99980362e-01 8.87840473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.46, Y:79.70, Z:0.89 [[ 3.88607518e-01 -9.21400161e-01 -2.43738697e-03 1.24460913e+02] [ 9.21382072e-01 3.88615162e-01 -5.77342616e-03 7.97045412e+01] [ 6.26684132e-03 -2.16784701e-06 9.99980363e-01 8.87371425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:79.73, Z:0.89 [[ 3.87406843e-01 -9.21905463e-01 -2.50123509e-03 1.24478202e+02] [ 9.21887556e-01 3.87414909e-01 -5.74646014e-03 7.97272458e+01] [ 6.26670875e-03 -7.96395248e-05 9.99980361e-01 8.88050717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:79.75, Z:0.89 [[ 3.87903520e-01 -9.21696565e-01 -2.51035512e-03 1.24489806e+02] [ 9.21678679e-01 3.87911634e-01 -5.74260915e-03 7.97499782e+01] [ 6.26673909e-03 -8.61624850e-05 9.99980360e-01 8.88450723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:79.77, Z:0.89 [[ 3.86686180e-01 -9.22207985e-01 -2.49594139e-03 1.24493875e+02] [ 9.22190071e-01 3.86694227e-01 -5.74870495e-03 7.97736364e+01] [ 6.26666773e-03 -7.87876082e-05 9.99980361e-01 8.89188199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:79.80, Z:0.89 [[ 3.87900568e-01 -9.21698034e-01 -2.42552327e-03 1.24503770e+02] [ 9.21679921e-01 3.87908151e-01 -5.77843123e-03 7.97994955e+01] [ 6.26684895e-03 5.90065869e-06 9.99980363e-01 8.89031689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:79.83, Z:0.89 [[ 3.89643726e-01 -9.20962514e-01 -2.41129312e-03 1.24518510e+02] [ 9.20944349e-01 3.89651186e-01 -5.78443733e-03 7.98277935e+01] [ 6.26681317e-03 3.32029368e-05 9.99980363e-01 8.87878486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:79.85, Z:0.89 [[ 3.87772411e-01 -9.21751860e-01 -2.46274459e-03 1.24524373e+02] [ 9.21733847e-01 3.87780230e-01 -5.76270631e-03 7.98506304e+01] [ 6.26678893e-03 -3.53765201e-05 9.99980363e-01 8.87437548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.731858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:124.54, Y:79.88, Z:0.89 [[ 3.86469515e-01 -9.22299067e-01 -2.39690624e-03 1.24539340e+02] [ 9.22280890e-01 3.86476947e-01 -5.79047861e-03 7.98793568e+01] [ 6.26690202e-03 2.72226399e-05 9.99980362e-01 8.88594124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:79.91, Z:0.89 [[ 3.84273665e-01 -9.23215959e-01 -2.45845694e-03 1.24552872e+02] [ 9.23197963e-01 3.84281526e-01 -5.76454809e-03 7.99078622e+01] [ 6.26666238e-03 -5.44784164e-05 9.99980363e-01 8.90808844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.56, Y:79.93, Z:0.89 [[ 3.80009442e-01 -9.24979201e-01 -2.51032899e-03 1.24556812e+02] [ 9.24961385e-01 3.80017708e-01 -5.74269151e-03 7.99304595e+01] [ 6.26583968e-03 -1.39680387e-04 9.99980360e-01 8.93569831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:79.96, Z:0.89 [[ 3.77939532e-01 -9.25827119e-01 -2.41988672e-03 1.24569971e+02] [ 9.25809074e-01 3.77947275e-01 -5.78070614e-03 7.99575467e+01] [ 6.26652410e-03 -5.55957091e-05 9.99980364e-01 8.92563361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:79.98, Z:0.89 [[ 3.75109074e-01 -9.26977413e-01 -2.46139999e-03 1.24581782e+02] [ 9.26959505e-01 3.75117130e-01 -5.76327207e-03 7.99846268e+01] [ 6.26573634e-03 -1.19762467e-04 9.99980363e-01 8.92479554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:80.01, Z:0.89 [[ 3.70450671e-01 -9.28848852e-01 -2.47202342e-03 1.24589775e+02] [ 9.28831014e-01 3.70458883e-01 -5.75880429e-03 8.00100380e+01] [ 6.26484178e-03 -1.62739102e-04 9.99980362e-01 8.93168031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.911858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:124.60, Y:80.04, Z:0.89 [[ 3.70029783e-01 -9.29016688e-01 -2.43969378e-03 1.24602662e+02] [ 9.28998764e-01 3.70037803e-01 -5.77238369e-03 8.00359177e+01] [ 6.26541970e-03 -1.30518618e-04 9.99980364e-01 8.92978358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:80.06, Z:0.89 [[ 3.65381035e-01 -9.30854804e-01 -2.45601155e-03 1.24609400e+02] [ 9.30836966e-01 3.65389246e-01 -5.76553429e-03 8.00600198e+01] [ 6.26427550e-03 -1.79529451e-04 9.99980363e-01 8.92465552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:80.09, Z:0.89 [[ 3.65507028e-01 -9.30805483e-01 -2.40129306e-03 1.24625482e+02] [ 9.30787491e-01 3.65514896e-01 -5.78846350e-03 8.00886880e+01] [ 6.26564194e-03 -1.19369455e-04 9.99980364e-01 8.90878252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:124.64, Y:80.12, Z:0.89 [[ 3.63753777e-01 -9.31491801e-01 -2.49302538e-03 1.24637694e+02] [ 9.31474082e-01 3.63762247e-01 -5.75001005e-03 8.01162137e+01] [ 6.26295573e-03 -2.30600651e-04 9.99980361e-01 8.90882402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.031858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:124.64, Y:80.14, Z:0.89 [[ 3.60036604e-01 -9.32934726e-01 -2.53772669e-03 1.24638564e+02] [ 9.32917171e-01 3.60045419e-01 -5.73126879e-03 8.01371476e+01] [ 6.26059655e-03 -3.04022258e-04 9.99980356e-01 8.91987192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:124.65, Y:80.16, Z:0.89 [[ 3.61843884e-01 -9.32235572e-01 -2.41695471e-03 1.24652331e+02] [ 9.32217656e-01 3.61851921e-01 -5.78175532e-03 8.01639633e+01] [ 6.26453768e-03 -1.61035048e-04 9.99980365e-01 8.91474281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:80.19, Z:0.89 [[ 3.61257507e-01 -9.32462869e-01 -2.45201650e-03 1.24663334e+02] [ 9.32445056e-01 3.61265771e-01 -5.76714872e-03 8.01916213e+01] [ 6.26348167e-03 -2.02944895e-04 9.99980364e-01 8.93543871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.67, Y:80.22, Z:0.89 [[ 3.61804329e-01 -9.32250783e-01 -2.47083159e-03 1.24673753e+02] [ 9.32233019e-01 3.61812699e-01 -5.75931573e-03 8.02179019e+01] [ 6.26310485e-03 -2.19645426e-04 9.99980362e-01 8.93573259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.151858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:124.68, Y:80.24, Z:0.89 [[ 3.60454940e-01 -9.32773349e-01 -2.47306032e-03 1.24676493e+02] [ 9.32755603e-01 3.60463350e-01 -5.75838837e-03 8.02410872e+01] [ 6.26271881e-03 -2.31121335e-04 9.99980362e-01 8.94074314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:124.69, Y:80.27, Z:0.89 [[ 3.63549040e-01 -9.31571961e-01 -2.40379111e-03 1.24691929e+02] [ 9.31553995e-01 3.63556961e-01 -5.78716048e-03 8.02695804e+01] [ 6.26507143e-03 -1.35344579e-04 9.99980365e-01 8.93357169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:80.30, Z:0.90 [[ 3.62361029e-01 -9.32034569e-01 -2.45901289e-03 1.24701071e+02] [ 9.32016766e-01 3.62369315e-01 -5.76427332e-03 8.02973186e+01] [ 6.26357282e-03 -2.03093230e-04 9.99980363e-01 8.95830920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:80.32, Z:0.90 [[ 3.63361296e-01 -9.31645067e-01 -2.45717343e-03 1.24705887e+02] [ 9.31627250e-01 3.63369552e-01 -5.76503381e-03 8.03198168e+01] [ 6.26382732e-03 -1.94379570e-04 9.99980363e-01 8.96793095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.72, Y:80.35, Z:0.90 [[ 3.64339597e-01 -9.31263100e-01 -2.38663128e-03 1.24715130e+02] [ 9.31245082e-01 3.64347397e-01 -5.79413694e-03 8.03451232e+01] [ 6.26542883e-03 -1.11505120e-04 9.99980366e-01 8.97347457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:80.37, Z:0.90 [[ 3.66760710e-01 -9.30312246e-01 -2.38883084e-03 1.24728715e+02] [ 9.30294213e-01 3.66768476e-01 -5.79322996e-03 8.03736207e+01] [ 6.26566062e-03 -9.75863764e-05 9.99980366e-01 8.98451240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:80.40, Z:0.90 [[ 3.67730207e-01 -9.29929330e-01 -2.43656417e-03 1.24734539e+02] [ 9.29911418e-01 3.67738252e-01 -5.77354897e-03 8.03969077e+01] [ 6.26501037e-03 -1.42680481e-04 9.99980364e-01 8.97405399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:80.42, Z:0.90 [[ 3.68196061e-01 -9.29745123e-01 -2.38032463e-03 1.24744660e+02] [ 9.29727056e-01 3.68203747e-01 -5.79669947e-03 8.04227243e+01] [ 6.26589751e-03 -7.87303015e-05 9.99980366e-01 8.96713050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.76, Y:80.45, Z:0.90 [[ 3.67733573e-01 -9.29928169e-01 -2.37058032e-03 1.24756163e+02] [ 9.29910080e-01 3.67741207e-01 -5.80070714e-03 8.04495813e+01] [ 6.26600104e-03 -7.13117760e-05 9.99980366e-01 8.96728773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.421858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.77, Y:80.48, Z:0.90 [[ 3.67479536e-01 -9.30028554e-01 -2.38298436e-03 1.24766969e+02] [ 9.30010500e-01 3.67487252e-01 -5.79560696e-03 8.04760480e+01] [ 6.26579634e-03 -8.64335179e-05 9.99980366e-01 8.96913092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.451858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:124.78, Y:80.50, Z:0.90 [[ 3.67003710e-01 -9.30216429e-01 -2.38140100e-03 1.24780691e+02] [ 9.30198375e-01 3.67011426e-01 -5.79625749e-03 8.05033052e+01] [ 6.26577532e-03 -8.79273320e-05 9.99980366e-01 8.97126831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:80.53, Z:0.90 [[ 3.65714371e-01 -9.30724012e-01 -2.41075411e-03 1.24791175e+02] [ 9.30706047e-01 3.65722294e-01 -5.78420342e-03 8.05290646e+01] [ 6.26516354e-03 -1.28337108e-04 9.99980365e-01 8.97612266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:80.55, Z:0.90 [[ 3.63852455e-01 -9.31453492e-01 -2.40479156e-03 1.24799754e+02] [ 9.31435527e-01 3.63860377e-01 -5.78665026e-03 8.05538548e+01] [ 6.26500396e-03 -1.34421390e-04 9.99980366e-01 8.97125370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:80.58, Z:0.90 [[ 3.63707861e-01 -9.31510033e-01 -2.37718820e-03 1.24814843e+02] [ 9.31491994e-01 3.63715614e-01 -5.79796774e-03 8.05824318e+01] [ 6.26548559e-03 -1.05565333e-04 9.99980366e-01 8.96920754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:80.61, Z:0.90 [[ 3.61645147e-01 -9.32312634e-01 -2.43700903e-03 1.24823299e+02] [ 9.32294776e-01 3.61653312e-01 -5.77344193e-03 8.06068076e+01] [ 6.26400524e-03 -1.84073527e-04 9.99980364e-01 8.96575657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.83, Y:80.63, Z:0.90 [[ 3.60899245e-01 -9.32601680e-01 -2.41710793e-03 1.24834517e+02] [ 9.32583773e-01 3.60907300e-01 -5.78159424e-03 8.06332372e+01] [ 6.26427640e-03 -1.67582642e-04 9.99980365e-01 8.96366225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.84, Y:80.66, Z:0.90 [[ 3.57320350e-01 -9.33978744e-01 -2.42361600e-03 1.24842291e+02] [ 9.33960886e-01 3.57328514e-01 -5.77893022e-03 8.06558682e+01] [ 6.26342509e-03 -1.98633173e-04 9.99980365e-01 8.96928960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:80.68, Z:0.90 [[ 3.58884274e-01 -9.33379054e-01 -2.37068052e-03 1.24859269e+02] [ 9.33361039e-01 3.58892080e-01 -5.80056487e-03 8.06844758e+01] [ 6.26494421e-03 -1.30969319e-04 9.99980366e-01 8.95173138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:80.71, Z:0.89 [[ 3.52595055e-01 -9.35772802e-01 -2.44747359e-03 1.24861094e+02] [ 9.35755053e-01 3.52603457e-01 -5.76915831e-03 8.07057495e+01] [ 6.26160908e-03 -2.56059086e-04 9.99980363e-01 8.92779309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.88, Y:80.73, Z:0.90 [[ 3.54989127e-01 -9.34867535e-01 -2.32625274e-03 1.24875047e+02] [ 9.34849434e-01 3.54996732e-01 -5.81863161e-03 8.07322775e+01] [ 6.26546191e-03 -1.09145101e-04 9.99980366e-01 8.95928598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:80.76, Z:0.89 [[ 3.57655790e-01 -9.33850485e-01 -2.36790120e-03 1.24892565e+02] [ 9.33832473e-01 3.57663603e-01 -5.80163305e-03 8.07607816e+01] [ 6.26476992e-03 -1.36235382e-04 9.99980367e-01 8.94659290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:124.90, Y:80.78, Z:0.90 [[ 3.53316135e-01 -9.35500787e-01 -2.44680483e-03 1.24896439e+02] [ 9.35483030e-01 3.53324518e-01 -5.76944146e-03 8.07841310e+01] [ 6.26183316e-03 -2.50507634e-04 9.99980363e-01 8.97583310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.811858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:124.91, Y:80.81, Z:0.90 [[ 3.58439015e-01 -9.33550184e-01 -2.35087120e-03 1.24914567e+02] [ 9.33532120e-01 3.58446707e-01 -5.80849095e-03 8.08121652e+01] [ 6.26517983e-03 -1.12624001e-04 9.99980367e-01 8.95618805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:124.92, Y:80.83, Z:0.90 [[ 3.56088217e-01 -9.34449129e-01 -2.45074519e-03 1.24918608e+02] [ 9.34431359e-01 3.56096572e-01 -5.76776880e-03 8.08347250e+01] [ 6.26238849e-03 -2.36218648e-04 9.99980363e-01 8.98151241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.871858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:124.93, Y:80.86, Z:0.90 [[ 3.56509655e-01 -9.34288655e-01 -2.36110506e-03 1.24929341e+02] [ 9.34270636e-01 3.56517447e-01 -5.80423355e-03 8.08610430e+01] [ 6.26460471e-03 -1.36645831e-04 9.99980368e-01 8.98564661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:80.89, Z:0.90 [[ 3.56887217e-01 -9.34144500e-01 -2.35954616e-03 1.24940378e+02] [ 9.34126473e-01 3.56894993e-01 -5.80486721e-03 8.08867919e+01] [ 6.26469498e-03 -1.32431623e-04 9.99980368e-01 8.99465846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.931858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:124.95, Y:80.91, Z:0.90 [[ 3.57445197e-01 -9.33931138e-01 -2.35793853e-03 1.24951130e+02] [ 9.33913103e-01 3.57452952e-01 -5.80552016e-03 8.09118354e+01] [ 6.26480813e-03 -1.26954387e-04 9.99980368e-01 8.99586346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:80.94, Z:0.90 [[ 3.57643414e-01 -9.33855255e-01 -2.35624321e-03 1.24961807e+02] [ 9.33837213e-01 3.57651154e-01 -5.80620814e-03 8.09378225e+01] [ 6.26487108e-03 -1.23795492e-04 9.99980368e-01 9.00683668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.97, Y:80.96, Z:0.90 [[ 3.57806870e-01 -9.33792643e-01 -2.35461725e-03 1.24972807e+02] [ 9.33774595e-01 3.57814597e-01 -5.80686745e-03 8.09635501e+01] [ 6.26492652e-03 -1.20944698e-04 9.99980368e-01 9.01493092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:80.99, Z:0.90 [[ 3.56169190e-01 -9.34418521e-01 -2.35299543e-03 1.24982114e+02] [ 9.34400482e-01 3.56176939e-01 -5.80752455e-03 8.09893772e+01] [ 6.26474121e-03 -1.30178752e-04 9.99980368e-01 9.00458399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.00, Y:81.02, Z:0.90 [[ 3.56721508e-01 -9.34207856e-01 -2.33384517e-03 1.24995833e+02] [ 9.34189763e-01 3.56729127e-01 -5.81527532e-03 8.10152995e+01] [ 6.26522644e-03 -1.05820478e-04 9.99980368e-01 9.02596122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.081858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.01, Y:81.04, Z:0.90 [[ 3.56144421e-01 -9.34427968e-01 -2.35021106e-03 1.25005842e+02] [ 9.34409923e-01 3.56152153e-01 -5.80865360e-03 8.10401986e+01] [ 6.26480111e-03 -1.27340968e-04 9.99980368e-01 9.03172266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:81.07, Z:0.90 [[ 3.55658552e-01 -9.34613010e-01 -2.34864359e-03 1.25016492e+02] [ 9.34594964e-01 3.55666283e-01 -5.80928732e-03 8.10663496e+01] [ 6.26476884e-03 -1.28907758e-04 9.99980368e-01 9.03893299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:81.09, Z:0.90 [[ 3.55446472e-01 -9.34693692e-01 -2.34702911e-03 1.25026542e+02] [ 9.34675643e-01 3.55454197e-01 -5.80993951e-03 8.10911083e+01] [ 6.26477516e-03 -1.28588444e-04 9.99980368e-01 9.03993222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.171858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:125.04, Y:81.12, Z:0.90 [[ 3.55067190e-01 -9.34837842e-01 -2.34532623e-03 1.25037268e+02] [ 9.34819792e-01 3.55074912e-01 -5.81062684e-03 8.11169792e+01] [ 6.26476036e-03 -1.29294437e-04 9.99980368e-01 9.04167630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.05, Y:81.14, Z:0.90 [[ 3.54986694e-01 -9.34868415e-01 -2.34370120e-03 1.25048223e+02] [ 9.34850362e-01 3.54994408e-01 -5.81128222e-03 8.11432346e+01] [ 6.26478502e-03 -1.28082054e-04 9.99980368e-01 9.03969598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.231858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.06, Y:81.17, Z:0.90 [[ 3.55249694e-01 -9.34768511e-01 -2.34207895e-03 1.25058375e+02] [ 9.34750452e-01 3.55257392e-01 -5.81193595e-03 8.11687172e+01] [ 6.26485557e-03 -1.24570890e-04 9.99980368e-01 9.03430397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.07, Y:81.19, Z:0.90 [[ 3.56164770e-01 -9.34420236e-01 -2.34089470e-03 1.25067597e+02] [ 9.34402165e-01 3.56172444e-01 -5.81241289e-03 8.11920574e+01] [ 6.26499841e-03 -1.17160375e-04 9.99980368e-01 9.01677253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.08, Y:81.22, Z:0.90 [[ 3.55823683e-01 -9.34550212e-01 -2.32544310e-03 1.25077971e+02] [ 9.34532104e-01 3.55831266e-01 -5.81863206e-03 8.12186751e+01] [ 6.26526919e-03 -1.02794142e-04 9.99980368e-01 9.02402434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:81.24, Z:0.90 [[ 3.56666067e-01 -9.34229011e-01 -2.33906229e-03 1.25088128e+02] [ 9.34210932e-01 3.56673719e-01 -5.81315205e-03 8.12438527e+01] [ 6.26509734e-03 -1.11823479e-04 9.99980368e-01 9.02452760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:81.27, Z:0.90 [[ 3.56665734e-01 -9.34229142e-01 -2.33758138e-03 1.25098357e+02] [ 9.34211059e-01 3.56673377e-01 -5.81374749e-03 8.12702618e+01] [ 6.26512538e-03 -1.10229861e-04 9.99980368e-01 9.03091791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:125.11, Y:81.30, Z:0.90 [[ 3.57236662e-01 -9.34010980e-01 -2.33595725e-03 1.25108238e+02] [ 9.33992888e-01 3.57244284e-01 -5.81439999e-03 8.12966700e+01] [ 6.26522081e-03 -1.04650612e-04 9.99980368e-01 9.03042662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:81.32, Z:0.90 [[ 3.56370869e-01 -9.34341669e-01 -2.33431983e-03 1.25118225e+02] [ 9.34323580e-01 3.56378497e-01 -5.81505730e-03 8.13228213e+01] [ 6.26515174e-03 -1.08693044e-04 9.99980368e-01 9.00409700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.13, Y:81.35, Z:0.90 [[ 3.58590166e-01 -9.33492181e-01 -2.33263447e-03 1.25133737e+02] [ 9.33474069e-01 3.58597741e-01 -5.81573320e-03 8.13512421e+01] [ 6.26541892e-03 -9.19890614e-05 9.99980368e-01 9.01044208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.471858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:125.14, Y:81.37, Z:0.90 [[ 3.56031061e-01 -9.34471042e-01 -2.39887615e-03 1.25139243e+02] [ 9.34453127e-01 3.56039097e-01 -5.78916524e-03 8.13744807e+01] [ 6.26390097e-03 -1.80514673e-04 9.99980365e-01 9.03208987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.15, Y:81.40, Z:0.90 [[ 3.55715581e-01 -9.34591357e-01 -2.32842844e-03 1.25149305e+02] [ 9.34573257e-01 3.55723186e-01 -5.81736231e-03 8.14006225e+01] [ 6.26513251e-03 -1.06760539e-04 9.99980368e-01 9.03791185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.531858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:125.16, Y:81.43, Z:0.90 [[ 3.55610266e-01 -9.34631438e-01 -2.32684214e-03 1.25158388e+02] [ 9.34613335e-01 3.55617863e-01 -5.81799673e-03 8.14260865e+01] [ 6.26514928e-03 -1.05758330e-04 9.99980368e-01 9.04177459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.17, Y:81.45, Z:0.90 [[ 3.55556998e-01 -9.34651708e-01 -2.32516778e-03 1.25168114e+02] [ 9.34633601e-01 3.55564586e-01 -5.81866581e-03 8.14523426e+01] [ 6.26517326e-03 -1.04312581e-04 9.99980368e-01 9.04034807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:81.48, Z:0.90 [[ 3.56203752e-01 -9.34405419e-01 -2.32357187e-03 1.25177935e+02] [ 9.34387304e-01 3.56211317e-01 -5.81930304e-03 8.14786628e+01] [ 6.26527089e-03 -9.82584796e-05 9.99980368e-01 9.04498311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:125.19, Y:81.51, Z:0.90 [[ 3.56190590e-01 -9.34410459e-01 -2.31472201e-03 1.25187363e+02] [ 9.34392320e-01 3.56198100e-01 -5.82283389e-03 8.15061916e+01] [ 6.26541647e-03 -8.88198277e-05 9.99980368e-01 9.03792735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.651858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:125.20, Y:81.53, Z:0.90 [[ 3.55818401e-01 -9.34552234e-01 -2.32091415e-03 1.25196705e+02] [ 9.34534115e-01 3.55825957e-01 -5.82036473e-03 8.15313245e+01] [ 6.26527636e-03 -9.79805806e-05 9.99980368e-01 9.03525203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.21, Y:81.56, Z:0.90 [[ 3.55006118e-01 -9.34861100e-01 -2.31942581e-03 1.25206489e+02] [ 9.34842983e-01 3.55013681e-01 -5.82095777e-03 8.15579005e+01] [ 6.26521488e-03 -1.01823316e-04 9.99980368e-01 9.03327112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.22, Y:81.58, Z:0.90 [[ 3.53563520e-01 -9.35407646e-01 -2.31779313e-03 1.25215575e+02] [ 9.35389537e-01 3.53571100e-01 -5.82160780e-03 8.15845837e+01] [ 6.26508112e-03 -1.09731294e-04 9.99980368e-01 9.03098386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.22, Y:81.61, Z:0.90 [[ 3.52628738e-01 -9.35760444e-01 -2.31613443e-03 1.25224907e+02] [ 9.35742338e-01 3.52636326e-01 -5.82226764e-03 8.16099191e+01] [ 6.26500089e-03 -1.14206152e-04 9.99980368e-01 9.03128506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.23, Y:81.63, Z:0.90 [[ 3.51816047e-01 -9.36066296e-01 -2.31464339e-03 1.25234174e+02] [ 9.36048193e-01 3.51823642e-01 -5.82286034e-03 8.16349510e+01] [ 6.26492958e-03 -1.18042055e-04 9.99980368e-01 9.03419322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.801858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:125.24, Y:81.66, Z:0.90 [[ 3.50572462e-01 -9.36532754e-01 -2.31292855e-03 1.25243434e+02] [ 9.36514656e-01 3.50580070e-01 -5.82354142e-03 8.16619027e+01] [ 6.26480394e-03 -1.24518235e-04 9.99980368e-01 9.04216677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.831858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.25, Y:81.69, Z:0.90 [[ 3.49789439e-01 -9.36825494e-01 -2.31131576e-03 1.25252599e+02] [ 9.36807398e-01 3.49797052e-01 -5.82418146e-03 8.16888017e+01] [ 6.26473311e-03 -1.28020534e-04 9.99980368e-01 9.04544994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.861858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:125.26, Y:81.72, Z:0.90 [[ 3.49969672e-01 -9.36758183e-01 -2.30967238e-03 1.25259522e+02] [ 9.36740082e-01 3.49977271e-01 -5.82483309e-03 8.17150121e+01] [ 6.26479290e-03 -1.25047768e-04 9.99980368e-01 9.04898126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.27, Y:81.74, Z:0.90 [[ 3.48690429e-01 -9.37235160e-01 -2.28918537e-03 1.25268812e+02] [ 9.37217015e-01 3.48697925e-01 -5.83294787e-03 8.17422423e+01] [ 6.26507801e-03 -1.11570389e-04 9.99980368e-01 9.04050484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.921858064 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:125.28, Y:81.77, Z:0.90 [[ 3.48134865e-01 -9.37441622e-01 -2.30685003e-03 1.25277669e+02] [ 9.37423528e-01 3.48142482e-01 -5.82595335e-03 8.17675851e+01] [ 6.26460365e-03 -1.34278003e-04 9.99980368e-01 9.04000608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.951858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.29, Y:81.79, Z:0.90 [[ 3.48515956e-01 -9.37300013e-01 -2.30514652e-03 1.25286407e+02] [ 9.37281912e-01 3.48523555e-01 -5.82662730e-03 8.17931057e+01] [ 6.26469571e-03 -1.29899548e-04 9.99980368e-01 9.03601904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.29, Y:81.82, Z:0.90 [[ 3.46129975e-01 -9.38183804e-01 -2.27837154e-03 1.25294946e+02] [ 9.38165652e-01 3.46137454e-01 -5.83720965e-03 8.18219938e+01] [ 6.26500527e-03 -1.17056693e-04 9.99980368e-01 9.04209658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.011858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:125.30, Y:81.85, Z:0.90 [[ 3.46773018e-01 -9.37946252e-01 -2.30276704e-03 1.25303100e+02] [ 9.37928158e-01 3.46780636e-01 -5.82756975e-03 8.18479421e+01] [ 6.26450223e-03 -1.38986098e-04 9.99980368e-01 9.03855534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.31, Y:81.88, Z:0.90 [[ 3.45402317e-01 -9.38451952e-01 -2.27428301e-03 1.25311684e+02] [ 9.38433796e-01 3.45409784e-01 -5.83880742e-03 8.18754893e+01] [ 6.26499983e-03 -1.17526423e-04 9.99980368e-01 9.03441473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.31, Y:81.90, Z:0.90 [[ 3.43311974e-01 -9.39218598e-01 -2.30496751e-03 1.25313629e+02] [ 9.39200539e-01 3.43319672e-01 -5.82670045e-03 8.18982169e+01] [ 6.26388612e-03 -1.64450688e-04 9.99980368e-01 9.00351387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.33, Y:81.93, Z:0.90 [[ 3.46540048e-01 -9.38032589e-01 -2.20396048e-03 1.25327088e+02] [ 9.38014244e-01 3.46547055e-01 -5.86654553e-03 8.19287284e+01] [ 6.26678690e-03 -3.43533552e-05 9.99980363e-01 9.02058303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.33, Y:81.95, Z:0.90 [[ 3.41930051e-01 -9.39722637e-01 -2.28153769e-03 1.25329875e+02] [ 9.39704528e-01 3.41937631e-01 -5.83587113e-03 8.19544100e+01] [ 6.26424380e-03 -1.48511584e-04 9.99980368e-01 8.99128264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:125.34, Y:81.98, Z:0.90 [[ 3.42629064e-01 -9.39468142e-01 -2.22138897e-03 1.25340020e+02] [ 9.39449871e-01 3.42636256e-01 -5.85967730e-03 8.19825408e+01] [ 6.26610855e-03 -7.91878354e-05 9.99980365e-01 8.99142750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:82.01, Z:0.90 [[ 3.43033657e-01 -9.39320444e-01 -2.23923444e-03 1.25348264e+02] [ 9.39302215e-01 3.43040952e-01 -5.85261600e-03 8.20105031e+01] [ 6.26563097e-03 -9.56736042e-05 9.99980366e-01 8.99480516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.221858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.36, Y:82.04, Z:0.90 [[ 3.42577116e-01 -9.39486973e-01 -2.26848118e-03 1.25356806e+02] [ 9.39468825e-01 3.42584602e-01 -5.84104388e-03 8.20376462e+01] [ 6.26473136e-03 -1.30159374e-04 9.99980368e-01 8.99234322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:82.06, Z:0.90 [[ 3.41741641e-01 -9.39791205e-01 -2.26749684e-03 1.25364977e+02] [ 9.39773061e-01 3.41749137e-01 -5.84143310e-03 8.20646805e+01] [ 6.26464254e-03 -1.34671520e-04 9.99980368e-01 8.98725998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.281858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.37, Y:82.09, Z:0.90 [[ 3.41048729e-01 -9.40042883e-01 -2.26781649e-03 1.25374138e+02] [ 9.40024745e-01 3.41056240e-01 -5.84130669e-03 8.20935714e+01] [ 6.26453175e-03 -1.39633396e-04 9.99980368e-01 8.98621400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.38, Y:82.12, Z:0.90 [[ 3.40332426e-01 -9.40302384e-01 -2.29489938e-03 1.25382830e+02] [ 9.40284323e-01 3.40340119e-01 -5.83059953e-03 8.21189136e+01] [ 6.26357296e-03 -1.73515826e-04 9.99980369e-01 8.98126671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.39, Y:82.15, Z:0.90 [[ 3.40212553e-01 -9.40345788e-01 -2.28420984e-03 1.25393263e+02] [ 9.40327699e-01 3.40220182e-01 -5.83482229e-03 8.21454719e+01] [ 6.26388485e-03 -1.62826000e-04 9.99980368e-01 8.98301480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:82.17, Z:0.90 [[ 3.37866026e-01 -9.41191445e-01 -2.28311819e-03 1.25403156e+02] [ 9.41173373e-01 3.37873693e-01 -5.83525333e-03 8.21731103e+01] [ 6.26349609e-03 -1.77276191e-04 9.99980368e-01 9.00513675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:82.20, Z:0.90 [[ 3.34731911e-01 -9.42310593e-01 -2.30100630e-03 1.25411281e+02] [ 9.42292594e-01 3.34739749e-01 -5.82819100e-03 8.22008868e+01] [ 6.26220438e-03 -2.17339686e-04 9.99980369e-01 8.99070330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.431858064 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:125.42, Y:82.23, Z:0.90 [[ 3.34248234e-01 -9.42482264e-01 -2.30218672e-03 1.25422098e+02] [ 9.42464272e-01 3.34256089e-01 -5.82772510e-03 8.22276559e+01] [ 6.26204747e-03 -2.21821904e-04 9.99980369e-01 9.01930257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:82.25, Z:0.90 [[ 3.32190804e-01 -9.43209335e-01 -2.32821868e-03 1.25430533e+02] [ 9.43191431e-01 3.32198858e-01 -5.81745263e-03 8.22547841e+01] [ 6.26050721e-03 -2.63451647e-04 9.99980368e-01 9.02504820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49185806399998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:125.43, Y:82.28, Z:0.90 [[ 3.27857052e-01 -9.44724489e-01 -2.32233928e-03 1.25434940e+02] [ 9.44706606e-01 3.27865152e-01 -5.81977064e-03 8.22817199e+01] [ 6.25949397e-03 -2.85876418e-04 9.99980368e-01 8.99757513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52185806399999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:125.45, Y:82.31, Z:0.90 [[ 3.29688910e-01 -9.44086845e-01 -2.29150385e-03 1.25446321e+02] [ 9.44068863e-01 3.29696786e-01 -5.83191255e-03 8.23086715e+01] [ 6.26133338e-03 -2.40620542e-04 9.99980369e-01 9.03680676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.46, Y:82.34, Z:0.90 [[ 3.29501441e-01 -9.44152221e-01 -2.32041342e-03 1.25455140e+02] [ 9.44134319e-01 3.29509498e-01 -5.82052830e-03 8.23355889e+01] [ 6.26006298e-03 -2.72909486e-04 9.99980368e-01 9.03930285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:82.36, Z:0.90 [[ 3.26970722e-01 -9.45031649e-01 -2.30874605e-03 1.25460178e+02] [ 9.45013736e-01 3.26978756e-01 -5.82511714e-03 8.23636272e+01] [ 6.25983096e-03 -2.77153969e-04 9.99980369e-01 9.02691796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:82.39, Z:0.90 [[ 3.27226115e-01 -9.44943267e-01 -2.30058285e-03 1.25467105e+02] [ 9.44925330e-01 3.27234094e-01 -5.82832588e-03 8.23884145e+01] [ 6.26026644e-03 -2.66698574e-04 9.99980369e-01 9.04165244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.641858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:125.47, Y:82.41, Z:0.90 [[ 3.27731693e-01 -9.44768102e-01 -2.27407376e-03 1.25474785e+02] [ 9.44750089e-01 3.27739499e-01 -5.83872347e-03 8.24143889e+01] [ 6.26154348e-03 -2.34896658e-04 9.99980369e-01 9.03674077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:82.44, Z:0.90 [[ 3.27534598e-01 -9.44836465e-01 -2.26751557e-03 1.25482745e+02] [ 9.44818436e-01 3.27542367e-01 -5.84129388e-03 8.24418087e+01] [ 6.26177488e-03 -2.29164670e-04 9.99980369e-01 9.04530801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:82.47, Z:0.90 [[ 3.29767696e-01 -9.44059344e-01 -2.28537105e-03 1.25488016e+02] [ 9.44041344e-01 3.29775532e-01 -5.83429966e-03 8.24690969e+01] [ 6.26158456e-03 -2.33521201e-04 9.99980369e-01 9.03684736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:82.50, Z:0.90 [[ 3.33639036e-01 -9.42698137e-01 -2.28394456e-03 1.25501860e+02] [ 9.42680102e-01 3.33646790e-01 -5.83485803e-03 8.24994598e+01] [ 6.26254056e-03 -2.06292682e-04 9.99980369e-01 9.03871927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:82.53, Z:0.90 [[ 3.33151183e-01 -9.42870496e-01 -2.34881438e-03 1.25508111e+02] [ 9.42852640e-01 3.33159346e-01 -5.80945661e-03 8.25262703e+01] [ 6.26009470e-03 -2.79158495e-04 9.99980366e-01 9.04364990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:82.55, Z:0.90 [[ 3.33424486e-01 -9.42773960e-01 -2.31796228e-03 1.25511124e+02] [ 9.42756018e-01 3.33432454e-01 -5.82153104e-03 8.25516481e+01] [ 6.26127172e-03 -2.44231891e-04 9.99980368e-01 9.02906791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.52, Y:82.58, Z:0.90 [[ 3.32668068e-01 -9.43041245e-01 -2.27323491e-03 1.25519182e+02] [ 9.43023189e-01 3.32675774e-01 -5.83900676e-03 8.25781061e+01] [ 6.26267439e-03 -2.01262139e-04 9.99980369e-01 9.02629393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:82.60, Z:0.90 [[ 3.32286936e-01 -9.43175592e-01 -2.27914265e-03 1.25527747e+02] [ 9.43157556e-01 3.32294686e-01 -5.83669988e-03 8.26049642e+01] [ 6.26237985e-03 -2.10131496e-04 9.99980369e-01 9.02887136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:82.63, Z:0.90 [[ 3.30638070e-01 -9.43754906e-01 -2.26783945e-03 1.25537086e+02] [ 9.43736853e-01 3.30645782e-01 -5.84111189e-03 8.26331932e+01] [ 6.26242955e-03 -2.08949698e-04 9.99980369e-01 9.04098869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.55, Y:82.66, Z:0.90 [[ 3.31130509e-01 -9.43582199e-01 -2.28470916e-03 1.25548182e+02] [ 9.43564187e-01 3.31138315e-01 -5.83452952e-03 8.26632231e+01] [ 6.26191293e-03 -2.23779010e-04 9.99980369e-01 9.03997524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.941858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.55, Y:82.69, Z:0.91 [[ 3.27526742e-01 -9.44839020e-01 -2.33669002e-03 1.25551932e+02] [ 9.44821179e-01 3.27534937e-01 -5.81424056e-03 8.26876495e+01] [ 6.25886896e-03 -3.03434946e-04 9.99980367e-01 9.05905595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.971858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:125.56, Y:82.71, Z:0.91 [[ 3.25963390e-01 -9.45379656e-01 -2.27461714e-03 1.25560625e+02] [ 9.45361660e-01 3.25971232e-01 -5.83842382e-03 8.27140280e+01] [ 6.26098685e-03 -2.47223414e-04 9.99980369e-01 9.06874151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:82.74, Z:0.91 [[ 3.23205462e-01 -9.46326087e-01 -2.27299596e-03 1.25567803e+02] [ 9.46308109e-01 3.23213347e-01 -5.83905490e-03 8.27407178e+01] [ 6.26031261e-03 -2.63740065e-04 9.99980369e-01 9.07260151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.58, Y:82.77, Z:0.91 [[ 3.21928634e-01 -9.46761213e-01 -2.27154386e-03 1.25576371e+02] [ 9.46743242e-01 3.21936534e-01 -5.83961975e-03 8.27674261e+01] [ 6.26001844e-03 -2.70627991e-04 9.99980369e-01 9.07554031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.58, Y:82.79, Z:0.91 [[ 3.20566881e-01 -9.47223164e-01 -2.26993051e-03 1.25583200e+02] [ 9.47205200e-01 3.20574797e-01 -5.84024681e-03 8.27939017e+01] [ 6.25969957e-03 -2.77900278e-04 9.99980369e-01 9.07891478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:82.82, Z:0.91 [[ 3.20593617e-01 -9.47214119e-01 -2.26847698e-03 1.25591691e+02] [ 9.47196151e-01 3.20601524e-01 -5.84081134e-03 8.28202881e+01] [ 6.25977614e-03 -2.76165826e-04 9.99980369e-01 9.08236385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:82.85, Z:0.91 [[ 3.21280507e-01 -9.46981361e-01 -2.26689126e-03 1.25600536e+02] [ 9.46963382e-01 3.21288391e-01 -5.84142671e-03 8.28474021e+01] [ 6.26004806e-03 -2.69926484e-04 9.99980369e-01 9.08514117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.151858064 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.61, Y:82.87, Z:0.91 [[ 3.22762479e-01 -9.46477283e-01 -2.26580764e-03 1.25608960e+02] [ 9.46459290e-01 3.22770328e-01 -5.84184700e-03 8.28746792e+01] [ 6.26051096e-03 -2.58965673e-04 9.99980369e-01 9.09011392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.62, Y:82.90, Z:0.91 [[ 3.26218454e-01 -9.45291707e-01 -2.26021911e-03 1.25615729e+02] [ 9.45273670e-01 3.26226203e-01 -5.84401306e-03 8.29018917e+01] [ 6.26163978e-03 -2.30100706e-04 9.99980369e-01 9.08955635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.62, Y:82.93, Z:0.91 [[ 3.27871177e-01 -9.44719730e-01 -2.26352663e-03 1.25623896e+02] [ 9.44701688e-01 3.27878914e-01 -5.84273170e-03 8.29285774e+01] [ 6.26190657e-03 -2.22694118e-04 9.99980369e-01 9.08993671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24185806399998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:125.63, Y:82.96, Z:0.91 [[ 3.30240751e-01 -9.43894025e-01 -2.26193758e-03 1.25630626e+02] [ 9.43875960e-01 3.30248434e-01 -5.84334681e-03 8.29557400e+01] [ 6.26250149e-03 -2.05277265e-04 9.99980369e-01 9.08777646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.64, Y:82.98, Z:0.91 [[ 3.30725285e-01 -9.43724365e-01 -2.26035695e-03 1.25639072e+02] [ 9.43706292e-01 3.30732948e-01 -5.84395818e-03 8.29810158e+01] [ 6.26266024e-03 -2.00368345e-04 9.99980369e-01 9.09115898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.65, Y:83.01, Z:0.91 [[ 3.30992271e-01 -9.43630762e-01 -2.25868889e-03 1.25648017e+02] [ 9.43612682e-01 3.30999919e-01 -5.84460281e-03 8.30071021e+01] [ 6.26277285e-03 -1.96809119e-04 9.99980369e-01 9.09423887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:83.03, Z:0.91 [[ 3.30430925e-01 -9.43827479e-01 -2.25712570e-03 1.25657117e+02] [ 9.43809399e-01 3.30438574e-01 -5.84520644e-03 8.30339175e+01] [ 6.26270785e-03 -1.98859476e-04 9.99980369e-01 9.09539570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.67, Y:83.06, Z:0.91 [[ 3.29472591e-01 -9.44162446e-01 -2.25551756e-03 1.25665014e+02] [ 9.44144370e-01 3.29480249e-01 -5.84582691e-03 8.30609710e+01] [ 6.26255872e-03 -2.03494465e-04 9.99980369e-01 9.09898163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.391858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.67, Y:83.09, Z:0.91 [[ 3.29024107e-01 -9.44318832e-01 -2.25386686e-03 1.25674281e+02] [ 9.44300756e-01 3.29031763e-01 -5.84646327e-03 8.30873870e+01] [ 6.26251916e-03 -2.04700819e-04 9.99980369e-01 9.10419466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:83.11, Z:0.91 [[ 3.28537189e-01 -9.44488350e-01 -2.25220519e-03 1.25683187e+02] [ 9.44470273e-01 3.28544844e-01 -5.84710332e-03 8.31133255e+01] [ 6.26247137e-03 -2.06149957e-04 9.99980369e-01 9.10536989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:83.14, Z:0.91 [[ 3.28212140e-01 -9.44601358e-01 -2.25070932e-03 1.25692391e+02] [ 9.44583280e-01 3.28219792e-01 -5.84767906e-03 8.31402152e+01] [ 6.26245293e-03 -2.06703139e-04 9.99980369e-01 9.10484254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:83.17, Z:0.91 [[ 3.28426049e-01 -9.44527010e-01 -2.24907394e-03 1.25701606e+02] [ 9.44508926e-01 3.28433687e-01 -5.84830798e-03 8.31670074e+01] [ 6.26255649e-03 -2.03533726e-04 9.99980369e-01 9.09847555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.71, Y:83.19, Z:0.91 [[ 3.28881141e-01 -9.44368648e-01 -2.24744610e-03 1.25711604e+02] [ 9.44350557e-01 3.28888760e-01 -5.84893348e-03 8.31932415e+01] [ 6.26270916e-03 -1.98773058e-04 9.99980369e-01 9.09528328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.541858064 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.72, Y:83.22, Z:0.91 [[ 3.29260239e-01 -9.44236544e-01 -2.24581808e-03 1.25722069e+02] [ 9.44218445e-01 3.29267840e-01 -5.84955852e-03 8.32206117e+01] [ 6.26284259e-03 -1.94515821e-04 9.99980369e-01 9.10081051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:83.25, Z:0.91 [[ 3.31454742e-01 -9.43468442e-01 -2.24781546e-03 1.25731579e+02] [ 9.43450331e-01 3.31462314e-01 -5.84879188e-03 8.32460576e+01] [ 6.26321668e-03 -1.82092435e-04 9.99980369e-01 9.07997295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.74, Y:83.27, Z:0.90 [[ 3.29625516e-01 -9.44109096e-01 -2.24369830e-03 1.25736696e+02] [ 9.44090988e-01 3.29633098e-01 -5.85037087e-03 8.32704788e+01] [ 6.26298557e-03 -1.89823831e-04 9.99980369e-01 9.03806490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:83.30, Z:0.91 [[ 3.34138406e-01 -9.42521486e-01 -2.18515376e-03 1.25752110e+02] [ 9.42503194e-01 3.34145537e-01 -5.87278422e-03 8.32982758e+01] [ 6.26538468e-03 -9.71916458e-05 9.99980368e-01 9.09191998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:83.32, Z:0.91 [[ 3.35938118e-01 -9.41881393e-01 -2.24124172e-03 1.25762546e+02] [ 9.41863228e-01 3.35945563e-01 -5.85130069e-03 8.33244677e+01] [ 6.26416645e-03 -1.45268218e-04 9.99980369e-01 9.10668236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.77, Y:83.35, Z:0.91 [[ 3.38134583e-01 -9.41095113e-01 -2.23417908e-03 1.25772399e+02] [ 9.41076914e-01 3.38141942e-01 -5.85400398e-03 8.33507646e+01] [ 6.26464419e-03 -1.23093158e-04 9.99980369e-01 9.10038170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:83.38, Z:0.91 [[ 3.38791157e-01 -9.40858942e-01 -2.23691305e-03 1.25783139e+02] [ 9.40840744e-01 3.38798520e-01 -5.85295797e-03 8.33776511e+01] [ 6.26467068e-03 -1.21648539e-04 9.99980369e-01 9.09993001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:83.40, Z:0.91 [[ 3.39328535e-01 -9.40665264e-01 -2.23762454e-03 1.25793756e+02] [ 9.40647064e-01 3.39335892e-01 -5.85268596e-03 8.34020916e+01] [ 6.26472470e-03 -1.18831597e-04 9.99980369e-01 9.10277813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:83.43, Z:0.91 [[ 3.40078326e-01 -9.40394456e-01 -2.23613058e-03 1.25805952e+02] [ 9.40376246e-01 3.40085659e-01 -5.85325669e-03 8.34275829e+01] [ 6.26484608e-03 -1.12238346e-04 9.99980369e-01 9.11725052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:83.45, Z:0.91 [[ 3.40077491e-01 -9.40394761e-01 -2.23450959e-03 1.25816110e+02] [ 9.40376548e-01 3.40084814e-01 -5.85387545e-03 8.34535267e+01] [ 6.26487659e-03 -1.10509137e-04 9.99980369e-01 9.12158878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:83.48, Z:0.91 [[ 3.41101975e-01 -9.40023647e-01 -2.23289152e-03 1.25825879e+02] [ 9.40005421e-01 3.41109268e-01 -5.85449258e-03 8.34786733e+01] [ 6.26502146e-03 -1.01951153e-04 9.99980369e-01 9.12148586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:83.51, Z:0.91 [[ 3.40070565e-01 -9.40397325e-01 -2.20961354e-03 1.25836395e+02] [ 9.40379049e-01 3.40077733e-01 -5.86336179e-03 8.35054229e+01] [ 6.26533011e-03 -8.39175193e-05 9.99980369e-01 9.12494294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:83.53, Z:0.91 [[ 3.38872017e-01 -9.40829836e-01 -2.23077613e-03 1.25848070e+02] [ 9.40811622e-01 3.38879340e-01 -5.85529918e-03 8.35309654e+01] [ 6.26480411e-03 -1.14543066e-04 9.99980369e-01 9.12505278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:83.56, Z:0.91 [[ 3.37861076e-01 -9.41193351e-01 -2.22909871e-03 1.25858806e+02] [ 9.41175142e-01 3.37868408e-01 -5.85593770e-03 8.35556226e+01] [ 6.26471166e-03 -1.19478881e-04 9.99980369e-01 9.12223254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:83.58, Z:0.91 [[ 3.36770465e-01 -9.41584139e-01 -2.22759134e-03 1.25870329e+02] [ 9.41565934e-01 3.36777809e-01 -5.85651105e-03 8.35816454e+01] [ 6.26460125e-03 -1.25124168e-04 9.99980369e-01 9.12728833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99185806399998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:125.88, Y:83.61, Z:0.91 [[ 3.34216446e-01 -9.42493720e-01 -2.22589735e-03 1.25883010e+02] [ 9.42475531e-01 3.34223829e-01 -5.85715481e-03 8.36054277e+01] [ 6.26427957e-03 -1.40296317e-04 9.99980369e-01 9.11579554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:83.63, Z:0.91 [[ 3.33360600e-01 -9.42796777e-01 -2.22438573e-03 1.25894270e+02] [ 9.42778590e-01 3.33367989e-01 -5.85772883e-03 8.36308241e+01] [ 6.26418686e-03 -1.44367246e-04 9.99980369e-01 9.12614019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:83.66, Z:0.91 [[ 3.32417108e-01 -9.43129856e-01 -2.22270301e-03 1.25904938e+02] [ 9.43111673e-01 3.32424506e-01 -5.85836727e-03 8.36566906e+01] [ 6.26408203e-03 -1.48835646e-04 9.99980369e-01 9.11948276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:83.68, Z:0.91 [[ 3.31807894e-01 -9.43344364e-01 -2.22103342e-03 1.25915006e+02] [ 9.43326181e-01 3.31815293e-01 -5.85900017e-03 8.36817529e+01] [ 6.26402765e-03 -1.51096469e-04 9.99980369e-01 9.11091236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.93, Y:83.71, Z:0.91 [[ 3.31960544e-01 -9.43290661e-01 -2.21953799e-03 1.25926681e+02] [ 9.43272473e-01 3.31967931e-01 -5.85956663e-03 8.37077134e+01] [ 6.26408991e-03 -1.48484164e-04 9.99980369e-01 9.10692226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:83.73, Z:0.91 [[ 3.32328527e-01 -9.43161084e-01 -2.21788686e-03 1.25937297e+02] [ 9.43142889e-01 3.32335897e-01 -5.86019152e-03 8.37320911e+01] [ 6.26418801e-03 -1.44275405e-04 9.99980369e-01 9.11034398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:83.76, Z:0.91 [[ 3.32840967e-01 -9.42980370e-01 -2.21640392e-03 1.25948232e+02] [ 9.42962167e-01 3.32848317e-01 -5.86075234e-03 8.37569052e+01] [ 6.26430072e-03 -1.39286564e-04 9.99980369e-01 9.11109505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:83.78, Z:0.91 [[ 3.35656082e-01 -9.41982000e-01 -2.21475346e-03 1.25960488e+02] [ 9.41963772e-01 3.35663368e-01 -5.86137598e-03 8.37819302e+01] [ 6.26472227e-03 -1.18811021e-04 9.99980369e-01 9.12830973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:83.81, Z:0.91 [[ 3.35402286e-01 -9.42072423e-01 -2.20369194e-03 1.25970512e+02] [ 9.42054169e-01 3.35409508e-01 -5.86555308e-03 8.38086742e+01] [ 6.26491503e-03 -1.08677267e-04 9.99980369e-01 9.13006502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:83.83, Z:0.91 [[ 3.37969540e-01 -9.41154473e-01 -2.20191348e-03 1.25980532e+02] [ 9.41136195e-01 3.37976701e-01 -5.86622409e-03 8.38332118e+01] [ 6.26521849e-03 -8.96954198e-05 9.99980369e-01 9.13728078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.99, Y:83.86, Z:0.91 [[ 3.41039414e-01 -9.40046464e-01 -2.18236298e-03 1.25991809e+02] [ 9.40028116e-01 3.41046393e-01 -5.87359803e-03 8.38609776e+01] [ 6.26574209e-03 -4.83541281e-05 9.99980369e-01 9.13849647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:83.89, Z:0.91 [[ 3.43493706e-01 -9.39152377e-01 -2.21055989e-03 1.26001926e+02] [ 9.39134078e-01 3.43500813e-01 -5.86296674e-03 8.38857901e+01] [ 6.26554827e-03 -6.21199576e-05 9.99980369e-01 9.13701844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.01, Y:83.91, Z:0.91 [[ 3.45798083e-01 -9.38306350e-01 -2.20906066e-03 1.26012351e+02] [ 9.38288030e-01 3.45805136e-01 -5.86353156e-03 8.39113559e+01] [ 6.26569342e-03 -4.51372065e-05 9.99980369e-01 9.13608280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:83.94, Z:0.91 [[ 3.48155848e-01 -9.37434069e-01 -2.20738919e-03 1.26023036e+02] [ 9.37415727e-01 3.48162844e-01 -5.86416074e-03 8.39367388e+01] [ 6.26579496e-03 -2.75994916e-05 9.99980369e-01 9.13764192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:83.96, Z:0.91 [[ 3.53262045e-01 -9.35521812e-01 -2.20588744e-03 1.26034737e+02] [ 9.35503429e-01 3.53268932e-01 -5.86472559e-03 8.39622770e+01] [ 6.26585022e-03 8.16969356e-06 9.99980369e-01 9.14267943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:83.99, Z:0.91 [[ 3.55622715e-01 -9.34626998e-01 -2.20422182e-03 1.26044911e+02] [ 9.34608594e-01 3.55629545e-01 -5.86535154e-03 8.39887918e+01] [ 6.26580231e-03 2.57675761e-05 9.99980369e-01 9.14172926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:84.01, Z:0.91 [[ 3.57942727e-01 -9.33740945e-01 -2.20252207e-03 1.26054456e+02] [ 9.33722520e-01 3.57949501e-01 -5.86598975e-03 8.40138160e+01] [ 6.26570649e-03 4.31439077e-05 9.99980369e-01 9.13711838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:84.04, Z:0.91 [[ 3.61656589e-01 -9.32308783e-01 -2.20099612e-03 1.26065257e+02] [ 9.32290328e-01 3.61663280e-01 -5.86656225e-03 8.40396319e+01] [ 6.26546699e-03 6.97134973e-05 9.99980369e-01 9.12183764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:84.07, Z:0.91 [[ 3.62760268e-01 -9.31879901e-01 -2.19935845e-03 1.26076110e+02] [ 9.31861434e-01 3.62766927e-01 -5.86717614e-03 8.40655186e+01] [ 6.26535803e-03 7.88810731e-05 9.99980369e-01 9.12059646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.09, Y:84.09, Z:0.91 [[ 3.63138874e-01 -9.31732434e-01 -2.19764958e-03 1.26087348e+02] [ 9.31713960e-01 3.63145515e-01 -5.86781616e-03 8.40918131e+01] [ 6.26530122e-03 8.32513659e-05 9.99980369e-01 9.11716788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:84.12, Z:0.91 [[ 3.61726622e-01 -9.32281625e-01 -2.19604823e-03 1.26100501e+02] [ 9.32263158e-01 3.61733280e-01 -5.86841541e-03 8.41162737e+01] [ 6.26539958e-03 7.54672239e-05 9.99980369e-01 9.11634121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:84.14, Z:0.91 [[ 3.59597259e-01 -9.33105029e-01 -2.19452065e-03 1.26112672e+02] [ 9.33086574e-01 3.59603950e-01 -5.86898660e-03 8.41418602e+01] [ 6.26553920e-03 6.27937469e-05 9.99980369e-01 9.12601678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.12, Y:84.17, Z:0.91 [[ 3.56939435e-01 -9.34124955e-01 -2.19285031e-03 1.26124763e+02] [ 9.34106515e-01 3.56946167e-01 -5.86961063e-03 8.41669549e+01] [ 6.26567928e-03 4.67397365e-05 9.99980369e-01 9.13296993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.14, Y:84.19, Z:0.91 [[ 3.53754686e-01 -9.35335673e-01 -2.19118924e-03 1.26137030e+02] [ 9.35317252e-01 3.53761472e-01 -5.87023066e-03 8.41927061e+01] [ 6.26579447e-03 2.71645047e-05 9.99980369e-01 9.13541732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.15, Y:84.22, Z:0.91 [[ 3.46940377e-01 -9.37884631e-01 -2.18953833e-03 1.26151683e+02] [ 9.37866256e-01 3.46947286e-01 -5.87084636e-03 8.42162407e+01] [ 6.26583096e-03 -1.66604699e-05 9.99980369e-01 9.13167458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74185806399998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.16, Y:84.24, Z:0.91 [[ 3.43983084e-01 -9.38973296e-01 -2.18805895e-03 1.26163362e+02] [ 9.38954940e-01 3.43990041e-01 -5.87139768e-03 8.42403167e+01] [ 6.26575612e-03 -3.48272827e-05 9.99980369e-01 9.13667052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:84.27, Z:0.91 [[ 3.44068645e-01 -9.38941983e-01 -2.17253694e-03 1.26183139e+02] [ 9.38923590e-01 3.44075503e-01 -5.87717966e-03 8.42702903e+01] [ 6.26584746e-03 -1.76929389e-05 9.99980369e-01 9.14213991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:84.29, Z:0.92 [[ 3.36203557e-01 -9.41786590e-01 -2.27764387e-03 1.26191366e+02] [ 9.41768513e-01 3.36211223e-01 -5.83798489e-03 8.42899615e+01] [ 6.26390531e-03 -1.82261995e-04 9.99980365e-01 9.15781262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:84.32, Z:0.91 [[ 3.37764894e-01 -9.41228024e-01 -2.16404794e-03 1.26208854e+02] [ 9.41209657e-01 3.37771822e-01 -5.88020595e-03 8.43168200e+01] [ 6.26556904e-03 -5.06956796e-05 9.99980370e-01 9.13644660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.861858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:126.21, Y:84.34, Z:0.92 [[ 3.32894235e-01 -9.42961552e-01 -2.22251280e-03 1.26214435e+02] [ 9.42943364e-01 3.32901622e-01 -5.85848624e-03 8.43408064e+01] [ 6.26420539e-03 -1.45447401e-04 9.99980369e-01 9.15576630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:84.37, Z:0.91 [[ 3.34423226e-01 -9.42420531e-01 -2.15620063e-03 1.26234212e+02] [ 9.42402170e-01 3.34430171e-01 -5.88307807e-03 8.43698005e+01] [ 6.26543210e-03 -6.45701998e-05 9.99980370e-01 9.14036809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.921858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.24, Y:84.39, Z:0.91 [[ 3.30850716e-01 -9.43680422e-01 -2.25064555e-03 1.26239728e+02] [ 9.43662320e-01 3.30858317e-01 -5.84801159e-03 8.43926472e+01] [ 6.26329885e-03 -1.89030584e-04 9.99980367e-01 9.14690851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:84.42, Z:0.91 [[ 3.35991378e-01 -9.41862552e-01 -2.17409108e-03 1.26260815e+02] [ 9.41844223e-01 3.35998404e-01 -5.87638598e-03 8.44230899e+01] [ 6.26523903e-03 -7.32400999e-05 9.99980371e-01 9.13575170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:84.44, Z:0.91 [[ 3.39507119e-01 -9.40600622e-01 -2.32101464e-03 1.26275663e+02] [ 9.40582627e-01 3.39514989e-01 -5.82185872e-03 8.44444587e+01] [ 6.26406319e-03 -2.06543564e-04 9.99980359e-01 9.11070464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.011858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.28, Y:84.47, Z:0.91 [[ 3.32158770e-01 -9.43220681e-01 -2.30198024e-03 1.26275552e+02] [ 9.43202699e-01 3.32166663e-01 -5.82894303e-03 8.44663938e+01] [ 6.26262071e-03 -2.35099431e-04 9.99980362e-01 9.12412378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.041858064 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:126.30, Y:84.50, Z:0.91 [[ 3.36915632e-01 -9.41532317e-01 -2.17996080e-03 1.26296873e+02] [ 9.41513995e-01 3.36922676e-01 -5.87422525e-03 8.44963695e+01] [ 6.26525114e-03 -7.33452956e-05 9.99980370e-01 9.09745476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:84.52, Z:0.91 [[ 3.29415760e-01 -9.44182215e-01 -2.28063119e-03 1.26303304e+02] [ 9.44164201e-01 3.29423574e-01 -5.83702731e-03 8.45215177e+01] [ 6.26251105e-03 -2.30481540e-04 9.99980364e-01 9.13926267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:84.55, Z:0.91 [[ 3.28209463e-01 -9.44602370e-01 -2.21591903e-03 1.26313338e+02] [ 9.44584204e-01 3.28216899e-01 -5.86081250e-03 8.45452255e+01] [ 6.26343946e-03 -1.69547985e-04 9.99980370e-01 9.13656691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.131858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.32, Y:84.57, Z:0.91 [[ 3.25572560e-01 -9.45514523e-01 -2.18955258e-03 1.26322629e+02] [ 9.45496312e-01 3.25579884e-01 -5.87051160e-03 8.45696875e+01] [ 6.26352825e-03 -1.58936395e-04 9.99980371e-01 9.14449006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:126.33, Y:84.59, Z:0.91 [[ 3.21814161e-01 -9.46800388e-01 -2.16116224e-03 1.26329395e+02] [ 9.46782136e-01 3.21821381e-01 -5.88094464e-03 8.45928373e+01] [ 6.26358888e-03 -1.53578538e-04 9.99980372e-01 9.12749320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.35, Y:84.62, Z:0.92 [[ 3.25983322e-01 -9.45373195e-01 -2.09688662e-03 1.26348387e+02] [ 9.45354757e-01 3.25990061e-01 -5.90460179e-03 8.46211097e+01] [ 6.26561645e-03 -5.75000365e-05 9.99980369e-01 9.18444934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.36, Y:84.65, Z:0.92 [[ 3.26197491e-01 -9.45299163e-01 -2.16561996e-03 1.26359102e+02] [ 9.45280888e-01 3.26204654e-01 -5.87928405e-03 8.46469492e+01] [ 6.26411760e-03 -1.29311452e-04 9.99980372e-01 9.18658910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.251858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:126.37, Y:84.67, Z:0.92 [[ 3.27305889e-01 -9.44915948e-01 -2.16945118e-03 1.26370293e+02] [ 9.44897675e-01 3.27313054e-01 -5.87787342e-03 8.46724662e+01] [ 6.26418602e-03 -1.26046795e-04 9.99980372e-01 9.19031522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.281858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:126.38, Y:84.70, Z:0.92 [[ 3.26977873e-01 -9.45029528e-01 -2.15904743e-03 1.26379931e+02] [ 9.45011232e-01 3.26984980e-01 -5.88170040e-03 8.46966286e+01] [ 6.26435664e-03 -1.17138182e-04 9.99980372e-01 9.15363152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.311858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:126.39, Y:84.72, Z:0.92 [[ 3.28752997e-01 -9.44413542e-01 -2.12791270e-03 1.26391201e+02] [ 9.44395158e-01 3.28759876e-01 -5.89315397e-03 8.47219012e+01] [ 6.26514673e-03 -7.21984190e-05 9.99980371e-01 9.16216426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.341858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:126.40, Y:84.75, Z:0.92 [[ 3.30374905e-01 -9.43847389e-01 -2.12821903e-03 1.26401728e+02] [ 9.43828993e-01 3.30381754e-01 -5.89304123e-03 8.47471307e+01] [ 6.26525631e-03 -6.17618918e-05 9.99980371e-01 9.15177150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.371858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:126.41, Y:84.77, Z:0.92 [[ 3.33618601e-01 -9.42705751e-01 -2.12059740e-03 1.26414580e+02] [ 9.42687314e-01 3.33625339e-01 -5.89584574e-03 8.47739462e+01] [ 6.26553271e-03 -3.20964575e-05 9.99980371e-01 9.16346738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:126.43, Y:84.80, Z:0.92 [[ 3.38220705e-01 -9.41064370e-01 -2.14607958e-03 1.26428264e+02] [ 9.41045960e-01 3.38227512e-01 -5.88647056e-03 8.47996369e+01] [ 6.26541086e-03 -2.86332988e-05 9.99980372e-01 9.15896519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.431858064 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:126.43, Y:84.82, Z:0.91 [[ 3.36270839e-01 -9.41762823e-01 -2.16975753e-03 1.26434777e+02] [ 9.41744483e-01 3.36277832e-01 -5.87775913e-03 8.48235522e+01] [ 6.26509639e-03 -6.68381890e-05 9.99980372e-01 9.10753483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46185806399998 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:126.45, Y:84.85, Z:0.91 [[ 3.37538140e-01 -9.41309487e-01 -2.11053993e-03 1.26447245e+02] [ 9.41290999e-01 3.37544738e-01 -5.89952833e-03 8.48489987e+01] [ 6.26568363e-03 4.68357957e-06 9.99980370e-01 9.11427804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49185806399998 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:126.46, Y:84.87, Z:0.91 [[ 3.39278529e-01 -9.40683582e-01 -2.11624860e-03 1.26461469e+02] [ 9.40665095e-01 3.39285129e-01 -5.89742660e-03 8.48741326e+01] [ 6.26562405e-03 1.01890307e-05 9.99980371e-01 9.12595251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52185806399999 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:126.48, Y:84.90, Z:0.92 [[ 3.41134662e-01 -9.40012028e-01 -2.12833570e-03 1.26475207e+02] [ 9.39993556e-01 3.41141302e-01 -5.89297831e-03 8.49005561e+01] [ 6.26553370e-03 9.67731951e-06 9.99980371e-01 9.15416232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.551858064 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:126.49, Y:84.93, Z:0.92 [[ 3.40591710e-01 -9.40208816e-01 -2.16075512e-03 1.26486693e+02] [ 9.40190424e-01 3.40598562e-01 -5.88104788e-03 8.49264196e+01] [ 6.26536316e-03 -2.84851154e-05 9.99980372e-01 9.16022186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.581858064 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:126.50, Y:84.95, Z:0.92 [[ 3.39004852e-01 -9.40782149e-01 -2.15852027e-03 1.26500601e+02] [ 9.40763762e-01 3.39011722e-01 -5.88186961e-03 8.49499457e+01] [ 6.26532160e-03 -3.66753172e-05 9.99980372e-01 9.17683717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.611858064 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:126.51, Y:84.98, Z:0.92 [[ 3.36952559e-01 -9.41519169e-01 -2.15123807e-03 1.26512304e+02] [ 9.41500780e-01 3.36959423e-01 -5.88454538e-03 8.49760065e+01] [ 6.26529221e-03 -4.25796978e-05 9.99980372e-01 9.20280761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.641858064 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:126.52, Y:85.00, Z:0.92 [[ 3.35207734e-01 -9.42141767e-01 -2.16012544e-03 1.26523536e+02] [ 9.42123412e-01 3.35214688e-01 -5.88128115e-03 8.50018114e+01] [ 6.26510639e-03 -6.36538220e-05 9.99980372e-01 9.21605682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.671858064 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:126.53, Y:85.03, Z:0.92 [[ 3.34170135e-01 -9.42510298e-01 -2.15849195e-03 1.26533574e+02] [ 9.42491947e-01 3.34177099e-01 -5.88188059e-03 8.50251430e+01] [ 6.26505161e-03 -6.88124476e-05 9.99980372e-01 9.23715064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.701858064 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:126.54, Y:85.05, Z:0.92 [[ 3.30315482e-01 -9.43868183e-01 -2.12967207e-03 1.26544185e+02] [ 9.43849792e-01 3.30322341e-01 -5.89244339e-03 8.50518368e+01] [ 6.26516810e-03 -6.37252571e-05 9.99980372e-01 9.21637698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.731858064 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:126.55, Y:85.08, Z:0.92 [[ 3.30107990e-01 -9.43940713e-01 -2.15536439e-03 1.26552832e+02] [ 9.43922385e-01 3.30115013e-01 -5.88303051e-03 8.50772028e+01] [ 6.26475015e-03 -9.24613178e-05 9.99980372e-01 9.21166599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.761858064 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:126.56, Y:85.10, Z:0.92 [[ 3.29413750e-01 -9.44183222e-01 -2.15030635e-03 1.26561826e+02] [ 9.44164887e-01 3.29420755e-01 -5.88488233e-03 8.51040121e+01] [ 6.26476270e-03 -9.16825980e-05 9.99980372e-01 9.20379166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.791858064 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:126.57, Y:85.13, Z:0.92 [[ 3.29478927e-01 -9.44160474e-01 -2.15306412e-03 1.26571918e+02] [ 9.44142145e-01 3.29485948e-01 -5.88387319e-03 8.51294766e+01] [ 6.26472487e-03 -9.41863541e-05 9.99980372e-01 9.19668206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821858064 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:126.58, Y:85.16, Z:0.92 [[ 3.29394256e-01 -9.44190020e-01 -2.15189975e-03 1.26582177e+02] [ 9.44171688e-01 3.29401272e-01 -5.88429900e-03 8.51559400e+01] [ 6.26473490e-03 -9.35085250e-05 9.99980372e-01 9.19404608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.851858064 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:126.59, Y:85.18, Z:0.92 [[ 3.29294151e-01 -9.44224940e-01 -2.15036828e-03 1.26591428e+02] [ 9.44206606e-01 3.29301159e-01 -5.88485861e-03 8.51827836e+01] [ 6.26474904e-03 -9.25424164e-05 9.99980372e-01 9.19833575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881858064 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:126.60, Y:85.21, Z:0.91 [[ 3.27346607e-01 -9.44901890e-01 -2.14875462e-03 1.26597762e+02] [ 9.44883566e-01 3.27353643e-01 -5.88544775e-03 8.52080548e+01] [ 6.26457335e-03 -1.03741579e-04 9.99980372e-01 9.14006986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.911858064 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:126.61, Y:85.24, Z:0.92 [[ 3.28948275e-01 -9.44345560e-01 -2.12012948e-03 1.26608599e+02] [ 9.44327157e-01 3.28955102e-01 -5.89588910e-03 8.52358029e+01] [ 6.26518411e-03 -6.26532933e-05 9.99980372e-01 9.17004116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941858064 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:126.62, Y:85.26, Z:0.92 [[ 3.28469003e-01 -9.44512296e-01 -2.15316898e-03 1.26616449e+02] [ 9.44493975e-01 3.28476044e-01 -5.88383660e-03 8.52615884e+01] [ 6.26462045e-03 -1.00997192e-04 9.99980372e-01 9.18159543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.971858064 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:126.62, Y:85.29, Z:0.92 [[ 3.28259487e-01 -9.44585150e-01 -2.14581827e-03 1.26624948e+02] [ 9.44566812e-01 3.28266487e-01 -5.88651616e-03 8.52884165e+01] [ 6.26471597e-03 -9.45639522e-05 9.99980372e-01 9.18321580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001858064 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:126.63, Y:85.31, Z:0.92 [[ 3.28140222e-01 -9.44626591e-01 -2.14421428e-03 1.26633482e+02] [ 9.44608251e-01 3.28147214e-01 -5.88710037e-03 8.53149071e+01] [ 6.26472950e-03 -9.36480776e-05 9.99980372e-01 9.18419757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.031858064 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:126.64, Y:85.34, Z:0.92 [[ 3.27540506e-01 -9.44834709e-01 -2.14260633e-03 1.26642922e+02] [ 9.44816369e-01 3.27547500e-01 -5.88768553e-03 8.53414901e+01] [ 6.26469498e-03 -9.59140336e-05 9.99980372e-01 9.19663882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061858064 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:126.65, Y:85.37, Z:0.92 [[ 3.26766382e-01 -9.45102718e-01 -2.14095875e-03 1.26652240e+02] [ 9.45084380e-01 3.26773381e-01 -5.88828458e-03 8.53683609e+01] [ 6.26464209e-03 -9.92932211e-05 9.99980372e-01 9.20378361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.091858064 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:126.66, Y:85.40, Z:0.92 [[ 3.24966034e-01 -9.45723268e-01 -2.13931758e-03 1.26660458e+02] [ 9.45704940e-01 3.24973057e-01 -5.88888078e-03 8.53950668e+01] [ 6.26447216e-03 -1.09476973e-04 9.99980372e-01 9.22164895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121858064 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:126.67, Y:85.42, Z:0.92 [[ 3.24289350e-01 -9.45955521e-01 -2.13768415e-03 1.26669716e+02] [ 9.45937194e-01 3.24296376e-01 -5.88947366e-03 8.54210589e+01] [ 6.26442335e-03 -1.12221360e-04 9.99980372e-01 9.23162349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.151858064 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:126.68, Y:85.45, Z:0.92 [[ 3.24027238e-01 -9.46045341e-01 -2.13595069e-03 1.26679395e+02] [ 9.46027011e-01 3.24034258e-01 -5.89010227e-03 8.54479615e+01] [ 6.26442501e-03 -1.12113480e-04 9.99980372e-01 9.23340763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181858064 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:126.69, Y:85.47, Z:0.92 [[ 3.23648921e-01 -9.46174836e-01 -2.13431851e-03 1.26688958e+02] [ 9.46156506e-01 3.23655939e-01 -5.89069365e-03 8.54743339e+01] [ 6.26441096e-03 -1.12882695e-04 9.99980372e-01 9.24045487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21185806399998 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:126.70, Y:85.50, Z:0.92 [[ 3.23838261e-01 -9.46110053e-01 -2.13268889e-03 1.26697547e+02] [ 9.46091717e-01 3.23845265e-01 -5.89128358e-03 8.55016073e+01] [ 6.26446382e-03 -1.09896260e-04 9.99980372e-01 9.24552892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24185806399998 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:126.71, Y:85.53, Z:0.92 [[ 3.24009672e-01 -9.46051368e-01 -2.13103104e-03 1.26706647e+02] [ 9.46033027e-01 3.24016662e-01 -5.89188321e-03 8.55295175e+01] [ 6.26451374e-03 -1.06998601e-04 9.99980372e-01 9.24216536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27185806399999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:126.71, Y:85.56, Z:0.92 [[ 3.24905765e-01 -9.45743952e-01 -2.14983424e-03 1.26714797e+02] [ 9.45725649e-01 3.24912855e-01 -5.88508475e-03 8.55556465e+01] [ 6.26429209e-03 -1.21055419e-04 9.99980372e-01 9.24293758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.301858064 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:126.71, Y:85.58, Z:0.92 [[ 3.17630118e-01 -9.48212307e-01 -2.12802148e-03 1.26708540e+02] [ 9.48194007e-01 3.17637213e-01 -5.89296161e-03 8.55751659e+01] [ 6.26371754e-03 -1.45995124e-04 9.99980372e-01 9.17756673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.331858064 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:126.73, Y:85.61, Z:0.92 [[ 3.26911911e-01 -9.45052834e-01 -1.93483416e-03 1.26732273e+02] [ 9.45034032e-01 3.26917614e-01 -5.96246646e-03 8.56085465e+01] [ 6.26737719e-03 1.20717177e-04 9.99980353e-01 9.22367064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.361858064 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:126.73, Y:85.63, Z:0.92 [[ 3.17802088e-01 -9.48154686e-01 -2.12695848e-03 1.26726970e+02] [ 9.48136383e-01 3.17809173e-01 -5.89312470e-03 8.56279955e+01] [ 6.26356072e-03 -1.43799379e-04 9.99980373e-01 9.15769591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.391858064 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:126.75, Y:85.66, Z:0.92 [[ 3.26770606e-01 -9.45101702e-01 -1.93496922e-03 1.26751293e+02] [ 9.45082903e-01 3.26776313e-01 -5.96215573e-03 8.56610640e+01] [ 6.26714564e-03 1.19550912e-04 9.99980354e-01 9.21323027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.421858064 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:126.76, Y:85.69, Z:0.92 [[ 3.26767365e-01 -9.45102414e-01 -2.12525106e-03 1.26759238e+02] [ 9.45084041e-01 3.26774266e-01 -5.89353892e-03 8.56869541e+01] [ 6.26447521e-03 -8.27246743e-05 9.99980375e-01 9.20015900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.451858064 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:126.77, Y:85.72, Z:0.92 [[ 3.24571363e-01 -9.45858875e-01 -2.10226194e-03 1.26767725e+02] [ 9.45840465e-01 3.24578163e-01 -5.90181992e-03 8.57150042e+01] [ 6.26463707e-03 -7.28426698e-05 9.99980374e-01 9.21484536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.481858064 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:126.78, Y:85.74, Z:0.92 [[ 3.22998998e-01 -9.46396925e-01 -2.12311419e-03 1.26776199e+02] [ 9.46378575e-01 3.23005959e-01 -5.89430900e-03 8.57414055e+01] [ 6.26413444e-03 -1.05413882e-04 9.99980375e-01 9.22162447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.511858064 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:126.79, Y:85.77, Z:0.92 [[ 3.19619345e-01 -9.47543653e-01 -2.12147867e-03 1.26785229e+02] [ 9.47525324e-01 3.19626361e-01 -5.89489759e-03 8.57684547e+01] [ 6.26375331e-03 -1.26031460e-04 9.99980375e-01 9.23290693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.541858064 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:126.79, Y:85.79, Z:0.92 [[ 3.17666116e-01 -9.48200266e-01 -2.11985433e-03 1.26794577e+02] [ 9.48181948e-01 3.17673159e-01 -5.89548166e-03 8.57948318e+01] [ 6.26351811e-03 -1.37212848e-04 9.99980375e-01 9.24128407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.571858064 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:126.80, Y:85.82, Z:0.92 [[ 3.16038905e-01 -9.48743866e-01 -2.11823313e-03 1.26803755e+02] [ 9.48725557e-01 3.16045969e-01 -5.89606410e-03 8.58204963e+01] [ 6.26331369e-03 -1.46236266e-04 9.99980375e-01 9.24918968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601858064 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:126.81, Y:85.85, Z:0.93 [[ 3.14894118e-01 -9.49124447e-01 -2.11652527e-03 1.26813400e+02] [ 9.49106141e-01 3.14901194e-01 -5.89667711e-03 8.58467570e+01] [ 6.26317673e-03 -1.51978200e-04 9.99980375e-01 9.25593873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.631858064 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:126.82, Y:85.87, Z:0.93 [[ 3.13184443e-01 -9.49689966e-01 -2.11493432e-03 1.26821873e+02] [ 9.49671670e-01 3.13191543e-01 -5.89724768e-03 8.58738565e+01] [ 6.26293649e-03 -1.61566973e-04 9.99980375e-01 9.26050563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661858064 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:126.83, Y:85.90, Z:0.93 [[ 3.12780718e-01 -9.49823013e-01 -2.11333289e-03 1.26829775e+02] [ 9.49804716e-01 3.12787815e-01 -5.89782151e-03 8.58994305e+01] [ 6.26291137e-03 -1.62528699e-04 9.99980375e-01 9.25682094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.691858064 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:126.84, Y:85.93, Z:0.93 [[ 3.12772136e-01 -9.49825843e-01 -2.11164472e-03 1.26838004e+02] [ 9.49807542e-01 3.12779223e-01 -5.89842587e-03 8.59268480e+01] [ 6.26295592e-03 -1.60792819e-04 9.99980375e-01 9.25439048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721858064 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:126.85, Y:85.95, Z:0.93 [[ 3.13263818e-01 -9.49663797e-01 -2.11005367e-03 1.26846043e+02] [ 9.49645489e-01 3.13270886e-01 -5.89899499e-03 8.59522762e+01] [ 6.26308036e-03 -1.55861251e-04 9.99980375e-01 9.25092078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.751858064 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:126.85, Y:85.98, Z:0.93 [[ 3.14049941e-01 -9.49404122e-01 -2.10889361e-03 1.26853890e+02] [ 9.49385805e-01 3.14056986e-01 -5.89940968e-03 8.59780830e+01] [ 6.26323664e-03 -1.49444393e-04 9.99980375e-01 9.25471778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781858064 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:126.87, Y:86.01, Z:0.93 [[ 3.16276932e-01 -9.48664568e-01 -2.10702309e-03 1.26866367e+02] [ 9.48646230e-01 3.16283923e-01 -5.90007767e-03 8.60081776e+01] [ 6.26361217e-03 -1.32761048e-04 9.99980375e-01 9.27627290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.811858064 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:126.87, Y:86.03, Z:0.93 [[ 3.15168917e-01 -9.49033111e-01 -2.16982231e-03 1.26870741e+02] [ 9.49014932e-01 3.15176319e-01 -5.87773507e-03 8.60312611e+01] [ 6.26204181e-03 -2.06714370e-04 9.99980372e-01 9.26318913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841858064 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:126.88, Y:86.06, Z:0.93 [[ 3.16356911e-01 -9.48637925e-01 -2.09594737e-03 1.26878510e+02] [ 9.48619560e-01 3.16363831e-01 -5.90396121e-03 8.60580542e+01] [ 6.26380345e-03 -1.20497743e-04 9.99980375e-01 9.25552493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.871858064 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:126.89, Y:86.09, Z:0.93 [[ 3.19397647e-01 -9.47618466e-01 -2.09430285e-03 1.26893684e+02] [ 9.47600076e-01 3.19404498e-01 -5.90454451e-03 8.60891703e+01] [ 6.26418516e-03 -9.86639175e-05 9.99980375e-01 9.25184901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901858064 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:126.90, Y:86.11, Z:0.92 [[ 3.19324870e-01 -9.47642756e-01 -2.19876847e-03 1.26901712e+02] [ 9.47624615e-01 3.19332371e-01 -5.86744107e-03 8.61143245e+01] [ 6.26237598e-03 -2.09987262e-04 9.99980369e-01 9.24293220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.931858064 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:126.91, Y:86.14, Z:0.93 [[ 3.18848252e-01 -9.47803259e-01 -2.18507925e-03 1.26910466e+02] [ 9.47785088e-01 3.18855677e-01 -5.87229693e-03 8.61420452e+01] [ 6.26250709e-03 -1.98613924e-04 9.99980371e-01 9.25210460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96185806399998 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:126.92, Y:86.17, Z:0.92 [[ 3.15805492e-01 -9.48821430e-01 -2.18744943e-03 1.26915604e+02] [ 9.48803289e-01 3.15812990e-01 -5.87145812e-03 8.61657522e+01] [ 6.26179024e-03 -2.21220497e-04 9.99980370e-01 9.21843184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99185806399998 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:126.92, Y:86.19, Z:0.93 [[ 3.16454090e-01 -9.48605443e-01 -2.12634339e-03 1.26922693e+02] [ 9.48587151e-01 3.16461198e-01 -5.89304602e-03 8.61883359e+01] [ 6.26308071e-03 -1.52143499e-04 9.99980375e-01 9.25957847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02185806399999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:126.93, Y:86.22, Z:0.93 [[ 3.14566608e-01 -9.49233159e-01 -2.06368675e-03 1.26931991e+02] [ 9.49214734e-01 3.14573362e-01 -5.91514065e-03 8.62153712e+01] [ 6.26402852e-03 -9.81761396e-05 9.99980376e-01 9.28439097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.051858064 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:126.94, Y:86.24, Z:0.93 [[ 3.15263415e-01 -9.49001920e-01 -2.08220412e-03 1.26944263e+02] [ 9.48983532e-01 3.15270271e-01 -5.90861510e-03 8.62432432e+01] [ 6.26374413e-03 -1.13207249e-04 9.99980376e-01 9.27346286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.081858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:126.95, Y:86.27, Z:0.93 [[ 3.12476685e-01 -9.49923056e-01 -2.12338699e-03 1.26951173e+02] [ 9.49904786e-01 3.12483851e-01 -5.89409951e-03 8.62683428e+01] [ 6.26246516e-03 -1.75246787e-04 9.99980375e-01 9.28624185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:86.29, Z:0.93 [[ 3.11162505e-01 -9.50354361e-01 -2.11740148e-03 1.26957290e+02] [ 9.50336087e-01 3.11169658e-01 -5.89620497e-03 8.62921205e+01] [ 6.26235521e-03 -1.77565130e-04 9.99980376e-01 9.32325596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.141858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:126.97, Y:86.32, Z:0.93 [[ 3.10896597e-01 -9.50441477e-01 -2.07486293e-03 1.26966382e+02] [ 9.50423105e-01 3.10903491e-01 -5.91114585e-03 8.63180302e+01] [ 6.26328032e-03 -1.34242542e-04 9.99980376e-01 9.32359241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.171858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:126.98, Y:86.35, Z:0.93 [[ 3.09981424e-01 -9.50740355e-01 -2.07218724e-03 1.26975021e+02] [ 9.50721983e-01 3.09988320e-01 -5.91208478e-03 8.63451535e+01] [ 6.26321142e-03 -1.37437500e-04 9.99980376e-01 9.33115569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.201858064 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:126.98, Y:86.37, Z:0.93 [[ 3.09181402e-01 -9.51000823e-01 -2.07237832e-03 1.26983955e+02] [ 9.50982457e-01 3.09188315e-01 -5.91201780e-03 8.63736840e+01] [ 6.26308895e-03 -1.42909475e-04 9.99980376e-01 9.31293969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:86.40, Z:0.93 [[ 3.07239444e-01 -9.51629887e-01 -2.11695642e-03 1.26990291e+02] [ 9.51611642e-01 3.07246670e-01 -5.89639259e-03 8.63994832e+01] [ 6.26161122e-03 -2.02915994e-04 9.99980375e-01 9.30745990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.261858064 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:127.00, Y:86.43, Z:0.93 [[ 3.07989070e-01 -9.51387616e-01 -2.08241192e-03 1.27001220e+02] [ 9.51369283e-01 3.07996067e-01 -5.90847829e-03 8.64272199e+01] [ 6.26262776e-03 -1.61396006e-04 9.99980377e-01 9.31635092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:86.45, Z:0.93 [[ 3.07187431e-01 -9.51646642e-01 -2.13318950e-03 1.27006455e+02] [ 9.51628436e-01 3.07194759e-01 -5.89071659e-03 8.64493123e+01] [ 6.26118530e-03 -2.20449689e-04 9.99980374e-01 9.32065570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:127.01, Y:86.47, Z:0.93 [[ 3.07049881e-01 -9.51691225e-01 -2.04519234e-03 1.27014391e+02] [ 9.51672812e-01 3.07056666e-01 -5.92142250e-03 8.64740925e+01] [ 6.26335578e-03 -1.28181871e-04 9.99980377e-01 9.31279513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.02, Y:86.50, Z:0.93 [[ 3.06485716e-01 -9.51873074e-01 -2.03857634e-03 1.27022607e+02] [ 9.51854650e-01 3.06492471e-01 -5.92372934e-03 8.65006207e+01] [ 6.26344676e-03 -1.24889938e-04 9.99980377e-01 9.30542190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:86.53, Z:0.93 [[ 3.05475720e-01 -9.52197671e-01 -2.04462890e-03 1.27030776e+02] [ 9.52179268e-01 3.05482531e-01 -5.92161963e-03 8.65272272e+01] [ 6.26315083e-03 -1.37942235e-04 9.99980377e-01 9.31671060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.411858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:127.04, Y:86.55, Z:0.93 [[ 3.06998784e-01 -9.51707675e-01 -2.06088277e-03 1.27037715e+02] [ 9.51689299e-01 3.07005667e-01 -5.91595743e-03 8.65520754e+01] [ 6.26296479e-03 -1.45128341e-04 9.99980377e-01 9.30680828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:86.58, Z:0.93 [[ 3.06754266e-01 -9.51786590e-01 -2.02655685e-03 1.27045709e+02] [ 9.51768136e-01 3.06760941e-01 -5.92789805e-03 8.65795025e+01] [ 6.26376236e-03 -1.10404216e-04 9.99980376e-01 9.29938649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:86.61, Z:0.93 [[ 3.07162353e-01 -9.51654962e-01 -2.03059618e-03 1.27053877e+02] [ 9.51636514e-01 3.07169044e-01 -5.92649346e-03 8.66062161e+01] [ 6.26371320e-03 -1.11993797e-04 9.99980376e-01 9.30618271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:86.63, Z:0.93 [[ 3.06230642e-01 -9.51955191e-01 -2.02685430e-03 1.27062434e+02] [ 9.51936742e-01 3.06237328e-01 -5.92779514e-03 8.66337823e+01] [ 6.26369380e-03 -1.14164567e-04 9.99980376e-01 9.30546732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:86.66, Z:0.93 [[ 3.06015883e-01 -9.52024182e-01 -2.05824599e-03 1.27071580e+02] [ 9.52005807e-01 3.06022768e-01 -5.91687522e-03 8.66603773e+01] [ 6.26287843e-03 -1.48804342e-04 9.99980377e-01 9.31106448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:86.69, Z:0.93 [[ 3.06716550e-01 -9.51798681e-01 -2.05657382e-03 1.27080150e+02] [ 9.51780296e-01 3.06723411e-01 -5.91745638e-03 8.66863268e+01] [ 6.26302651e-03 -1.42424638e-04 9.99980377e-01 9.30627558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:86.71, Z:0.93 [[ 3.05534689e-01 -9.52178775e-01 -2.03320508e-03 1.27088551e+02] [ 9.52160345e-01 3.05541428e-01 -5.92556747e-03 8.67136568e+01] [ 6.26342795e-03 -1.25470836e-04 9.99980377e-01 9.31518636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.09, Y:86.74, Z:0.93 [[ 3.05749087e-01 -9.52109925e-01 -2.04606165e-03 1.27094869e+02] [ 9.52091524e-01 3.05755902e-01 -5.92110694e-03 8.67399132e+01] [ 6.26314012e-03 -1.37664916e-04 9.99980377e-01 9.31809716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:86.77, Z:0.93 [[ 3.06105360e-01 -9.51995433e-01 -2.05027447e-03 1.27102880e+02] [ 9.51977039e-01 3.06112194e-01 -5.91964617e-03 8.67674064e+01] [ 6.26309014e-03 -1.39778805e-04 9.99980377e-01 9.31653095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:86.79, Z:0.93 [[ 3.06775215e-01 -9.51779784e-01 -2.05171866e-03 1.27110280e+02] [ 9.51761388e-01 3.06782045e-01 -5.91914558e-03 8.67923759e+01] [ 6.26315355e-03 -1.36899449e-04 9.99980377e-01 9.32562259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:86.82, Z:0.93 [[ 3.08175496e-01 -9.51327326e-01 -2.04519218e-03 1.27118270e+02] [ 9.51308905e-01 3.08182259e-01 -5.92140558e-03 8.68178849e+01] [ 6.26348688e-03 -1.20777431e-04 9.99980377e-01 9.32312915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:86.85, Z:0.93 [[ 3.08271909e-01 -9.51296081e-01 -2.04868766e-03 1.27127163e+02] [ 9.51277667e-01 3.08278692e-01 -5.92019597e-03 8.68450940e+01] [ 6.26342597e-03 -1.23840702e-04 9.99980377e-01 9.32679039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:86.87, Z:0.93 [[ 3.08854986e-01 -9.51106919e-01 -2.05579417e-03 1.27135917e+02] [ 9.51088517e-01 3.08861802e-01 -5.91773841e-03 8.68711700e+01] [ 6.26335824e-03 -1.27519213e-04 9.99980377e-01 9.32190761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:86.90, Z:0.93 [[ 3.08976990e-01 -9.51067314e-01 -2.04545205e-03 1.27144753e+02] [ 9.51048888e-01 3.08983739e-01 -5.92131099e-03 8.68978772e+01] [ 6.26357676e-03 -1.15776052e-04 9.99980377e-01 9.30023863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:86.93, Z:0.93 [[ 3.08733071e-01 -9.51146549e-01 -2.03290655e-03 1.27152938e+02] [ 9.51128097e-01 3.08739746e-01 -5.92564090e-03 8.69257037e+01] [ 6.26379195e-03 -1.04113223e-04 9.99980377e-01 9.32750729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:86.95, Z:0.93 [[ 3.09074440e-01 -9.51035656e-01 -2.04247551e-03 1.27161558e+02] [ 9.51017222e-01 3.09081169e-01 -5.92234079e-03 8.69519694e+01] [ 6.26364798e-03 -1.11985220e-04 9.99980377e-01 9.32681361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:86.98, Z:0.93 [[ 3.08208794e-01 -9.51316567e-01 -2.03189824e-03 1.27170843e+02] [ 9.51298116e-01 3.08215474e-01 -5.92598586e-03 8.69792448e+01] [ 6.26375101e-03 -1.06500012e-04 9.99980377e-01 9.32363019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:87.00, Z:0.93 [[ 3.08930940e-01 -9.51082286e-01 -2.03981746e-03 1.27179744e+02] [ 9.51063847e-01 3.08937654e-01 -5.92325869e-03 8.70046321e+01] [ 6.26368283e-03 -1.10118773e-04 9.99980377e-01 9.33245478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.951858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:127.19, Y:87.03, Z:0.93 [[ 3.07956594e-01 -9.51398256e-01 -2.02363210e-03 1.27189075e+02] [ 9.51379788e-01 3.07963226e-01 -5.92882854e-03 8.70325751e+01] [ 6.26388140e-03 -9.94208326e-05 9.99980377e-01 9.32876373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:87.06, Z:0.93 [[ 3.07966234e-01 -9.51395105e-01 -2.03781871e-03 1.27197742e+02] [ 9.51376669e-01 3.07972955e-01 -5.92394839e-03 8.70587482e+01] [ 6.26360855e-03 -1.14357094e-04 9.99980377e-01 9.33979553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.011858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.21, Y:87.09, Z:0.93 [[ 3.06792877e-01 -9.51774149e-01 -2.02476133e-03 1.27206652e+02] [ 9.51755692e-01 3.06799539e-01 -5.92843592e-03 8.70854938e+01] [ 6.26372789e-03 -1.08276209e-04 9.99980377e-01 9.34443542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.041858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.22, Y:87.11, Z:0.93 [[ 3.06534498e-01 -9.51857372e-01 -2.03564277e-03 1.27215839e+02] [ 9.51838941e-01 3.06541233e-01 -5.92469721e-03 8.71125552e+01] [ 6.26347516e-03 -1.21479971e-04 9.99980377e-01 9.34626624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:87.14, Z:0.93 [[ 3.06837393e-01 -9.51759779e-01 -2.03403427e-03 1.27224266e+02] [ 9.51741342e-01 3.06844112e-01 -5.92524937e-03 8.71385170e+01] [ 6.26354548e-03 -1.17786438e-04 9.99980377e-01 9.34402804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:87.17, Z:0.94 [[ 3.06574847e-01 -9.51844423e-01 -2.01455199e-03 1.27235872e+02] [ 9.51825943e-01 3.06581450e-01 -5.93194069e-03 8.71680585e+01] [ 6.26390893e-03 -9.89190365e-05 9.99980377e-01 9.35485891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:87.19, Z:0.94 [[ 3.08097233e-01 -9.51352611e-01 -2.07490880e-03 1.27244832e+02] [ 9.51334258e-01 3.08104182e-01 -5.91121986e-03 8.71918991e+01] [ 6.26294252e-03 -1.52701345e-04 9.99980376e-01 9.35012674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:87.22, Z:0.94 [[ 3.06896766e-01 -9.51740592e-01 -2.05459369e-03 1.27252625e+02] [ 9.51722201e-01 3.06903612e-01 -5.91818998e-03 8.72197688e+01] [ 6.26314386e-03 -1.39129065e-04 9.99980377e-01 9.36238896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:87.25, Z:0.94 [[ 3.09196005e-01 -9.50996106e-01 -2.05838775e-03 1.27261532e+02] [ 9.50977708e-01 3.09202830e-01 -5.91688904e-03 8.72452870e+01] [ 6.26339776e-03 -1.28002408e-04 9.99980377e-01 9.35276125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:87.27, Z:0.94 [[ 3.08406267e-01 -9.51252545e-01 -2.04190253e-03 1.27270251e+02] [ 9.51234115e-01 3.08413005e-01 -5.92253645e-03 8.72743788e+01] [ 6.26357717e-03 -1.15779993e-04 9.99980377e-01 9.36762249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:87.30, Z:0.94 [[ 3.08038678e-01 -9.51371585e-01 -2.06885961e-03 1.27274778e+02] [ 9.51353219e-01 3.08045590e-01 -5.91331040e-03 8.72999689e+01] [ 6.26305857e-03 -1.46687935e-04 9.99980376e-01 9.36285060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:87.33, Z:0.94 [[ 3.10864809e-01 -9.50451980e-01 -2.02589421e-03 1.27280714e+02] [ 9.50433497e-01 3.10871399e-01 -5.92799385e-03 8.73263350e+01] [ 6.26406606e-03 -8.26730366e-05 9.99980377e-01 9.36186334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:87.35, Z:0.94 [[ 3.12492057e-01 -9.49918215e-01 -2.02468633e-03 1.27290920e+02] [ 9.49899718e-01 3.12498608e-01 -5.92840637e-03 8.73549748e+01] [ 6.26421286e-03 -7.06690680e-05 9.99980377e-01 9.36773795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:87.38, Z:0.94 [[ 3.13022333e-01 -9.49743554e-01 -2.04982797e-03 1.27299345e+02] [ 9.49725109e-01 3.13029030e-01 -5.91982379e-03 8.73820713e+01] [ 6.26397014e-03 -9.37360419e-05 9.99980377e-01 9.37109211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:87.41, Z:0.94 [[ 3.12484200e-01 -9.49920759e-01 -2.04347966e-03 1.27304685e+02] [ 9.49902304e-01 3.12490869e-01 -5.92198894e-03 8.74078796e+01] [ 6.26398897e-03 -9.05780607e-05 9.99980377e-01 9.35095650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:87.44, Z:0.94 [[ 3.13046239e-01 -9.49735769e-01 -2.00540168e-03 1.27313502e+02] [ 9.49717226e-01 3.13052658e-01 -5.93496332e-03 8.74355214e+01] [ 6.26444328e-03 -4.66465772e-05 9.99980377e-01 9.35502580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.431858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.32, Y:87.46, Z:0.94 [[ 3.13118958e-01 -9.49711792e-01 -2.00766876e-03 1.27321683e+02] [ 9.49693253e-01 3.13125390e-01 -5.93419104e-03 8.74624183e+01] [ 6.26442327e-03 -4.85617622e-05 9.99980377e-01 9.35661043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.33, Y:87.49, Z:0.94 [[ 3.13994246e-01 -9.49422773e-01 -2.00272064e-03 1.27331350e+02] [ 9.49404218e-01 3.14000631e-01 -5.93587546e-03 8.74898978e+01] [ 6.26451089e-03 -3.75606875e-05 9.99980377e-01 9.36979690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.34, Y:87.52, Z:0.94 [[ 3.13480465e-01 -9.49592502e-01 -2.01957604e-03 1.27337897e+02] [ 9.49573987e-01 3.13486965e-01 -5.93014031e-03 8.75161278e+01] [ 6.26432754e-03 -5.87537284e-05 9.99980377e-01 9.36071732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.35, Y:87.54, Z:0.94 [[ 3.14171495e-01 -9.49364134e-01 -2.00333019e-03 1.27347587e+02] [ 9.49345579e-01 3.14177880e-01 -5.93566334e-03 8.75437625e+01] [ 6.26450791e-03 -3.70364327e-05 9.99980377e-01 9.37888914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:87.57, Z:0.94 [[ 3.13821446e-01 -9.49479877e-01 -2.01565897e-03 1.27355860e+02] [ 9.49461351e-01 3.13827915e-01 -5.93147312e-03 8.75700141e+01] [ 6.26438442e-03 -5.23668162e-05 9.99980377e-01 9.38186155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:87.60, Z:0.94 [[ 3.13343066e-01 -9.49637869e-01 -2.01009398e-03 1.27363646e+02] [ 9.49619334e-01 3.13349509e-01 -5.93336309e-03 8.75954473e+01] [ 6.26440825e-03 -4.96459195e-05 9.99980377e-01 9.38755869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.611858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.37, Y:87.62, Z:0.94 [[ 3.12746176e-01 -9.49834618e-01 -2.00690606e-03 1.27371102e+02] [ 9.49816080e-01 3.12752611e-01 -5.93444473e-03 8.76204456e+01] [ 6.26440615e-03 -5.02167542e-05 9.99980377e-01 9.37749068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:87.65, Z:0.94 [[ 3.13065009e-01 -9.49729615e-01 -1.98978136e-03 1.27381000e+02] [ 9.49711038e-01 3.13071331e-01 -5.94025150e-03 8.76490047e+01] [ 6.26457627e-03 -3.00324312e-05 9.99980377e-01 9.39161642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:87.67, Z:0.94 [[ 3.11440104e-01 -9.50263654e-01 -2.01212561e-03 1.27387278e+02] [ 9.50245137e-01 3.11446597e-01 -5.93267511e-03 8.76739809e+01] [ 6.26427520e-03 -6.43396232e-05 9.99980377e-01 9.37628078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.701858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.40, Y:87.70, Z:0.94 [[ 3.12101672e-01 -9.50046624e-01 -1.98973416e-03 1.27397667e+02] [ 9.50028053e-01 3.12108012e-01 -5.94025028e-03 8.77015349e+01] [ 6.26452670e-03 -3.63412259e-05 9.99980377e-01 9.41087373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:87.73, Z:0.94 [[ 3.10374545e-01 -9.50612229e-01 -2.00810251e-03 1.27405245e+02] [ 9.50593710e-01 3.10381034e-01 -5.93404010e-03 8.77288945e+01] [ 6.26424802e-03 -6.71146104e-05 9.99980377e-01 9.41221667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:87.75, Z:0.94 [[ 3.08838122e-01 -9.51112504e-01 -2.00477248e-03 1.27412931e+02] [ 9.51093988e-01 3.08844620e-01 -5.93516492e-03 8.77545209e+01] [ 6.26417276e-03 -7.37218651e-05 9.99980377e-01 9.41256218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:87.78, Z:0.94 [[ 3.07846767e-01 -9.51433842e-01 -2.00331154e-03 1.27420926e+02] [ 9.51415329e-01 3.07853275e-01 -5.93565789e-03 8.77800000e+01] [ 6.26411181e-03 -7.87082196e-05 9.99980377e-01 9.39589625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821858064 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:127.43, Y:87.81, Z:0.94 [[ 3.05379450e-01 -9.52228643e-01 -2.00104695e-03 1.27429666e+02] [ 9.52210142e-01 3.05385992e-01 -5.93642124e-03 8.78064692e+01] [ 6.26392204e-03 -9.25561507e-05 9.99980377e-01 9.40435822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.851858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:127.44, Y:87.83, Z:0.94 [[ 3.04109156e-01 -9.52635099e-01 -1.99741810e-03 1.27438224e+02] [ 9.52616599e-01 3.04115701e-01 -5.93764352e-03 8.78329385e+01] [ 6.26385383e-03 -9.70818701e-05 9.99980377e-01 9.40275118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:87.86, Z:0.94 [[ 3.03187556e-01 -9.52928806e-01 -1.99896034e-03 1.27446658e+02] [ 9.52910317e-01 3.03194128e-01 -5.93712427e-03 8.78598927e+01] [ 6.26372978e-03 -1.04767737e-04 9.99980377e-01 9.40282288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.911858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:127.46, Y:87.89, Z:0.94 [[ 3.02368892e-01 -9.53188891e-01 -1.99792363e-03 1.27455186e+02] [ 9.53170404e-01 3.02375473e-01 -5.93747311e-03 8.78868133e+01] [ 6.26365651e-03 -1.09054506e-04 9.99980377e-01 9.40702757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.46, Y:87.91, Z:0.94 [[ 3.01704155e-01 -9.53399506e-01 -1.99621525e-03 1.27462707e+02] [ 9.53381021e-01 3.01710738e-01 -5.93804743e-03 8.79131249e+01] [ 6.26361106e-03 -1.11620153e-04 9.99980377e-01 9.40674268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:87.94, Z:0.94 [[ 3.01513407e-01 -9.53459851e-01 -1.99447256e-03 1.27470813e+02] [ 9.53441363e-01 3.01519983e-01 -5.93863270e-03 8.79388143e+01] [ 6.26362118e-03 -1.11035257e-04 9.99980377e-01 9.40752271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001858064 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:127.48, Y:87.97, Z:0.94 [[ 3.01292328e-01 -9.53529739e-01 -1.99274972e-03 1.27479402e+02] [ 9.53511248e-01 3.01298897e-01 -5.93921076e-03 8.79651990e+01] [ 6.26362737e-03 -1.10670634e-04 9.99980377e-01 9.41496935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.031858064 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:127.49, Y:87.99, Z:0.94 [[ 3.01523186e-01 -9.53456766e-01 -1.99112965e-03 1.27487807e+02] [ 9.53438270e-01 3.01529741e-01 -5.93975384e-03 8.79908131e+01] [ 6.26368329e-03 -1.07445711e-04 9.99980377e-01 9.39612431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.50, Y:88.02, Z:0.94 [[ 3.01917863e-01 -9.53331857e-01 -1.99372060e-03 1.27496874e+02] [ 9.53313364e-01 3.01924426e-01 -5.93888580e-03 8.80169996e+01] [ 6.26368197e-03 -1.07584781e-04 9.99980377e-01 9.42500878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:88.04, Z:0.94 [[ 3.02222835e-01 -9.53235230e-01 -1.98871026e-03 1.27505131e+02] [ 9.53216724e-01 3.02229361e-01 -5.94056310e-03 8.80427227e+01] [ 6.26380066e-03 -1.00298060e-04 9.99980377e-01 9.42022646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:88.07, Z:0.94 [[ 3.02633636e-01 -9.53104891e-01 -1.98700244e-03 1.27513497e+02] [ 9.53086379e-01 3.02640144e-01 -5.94113427e-03 8.80690294e+01] [ 6.26387084e-03 -9.57978934e-05 9.99980377e-01 9.42286380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.151858064 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:127.52, Y:88.10, Z:0.94 [[ 3.03685913e-01 -9.52770132e-01 -1.98538167e-03 1.27522652e+02] [ 9.52751609e-01 3.03692391e-01 -5.94167585e-03 8.80959403e+01] [ 6.26399659e-03 -8.71723244e-05 9.99980377e-01 9.42209854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:88.12, Z:0.94 [[ 3.03892860e-01 -9.52704148e-01 -1.98377028e-03 1.27531029e+02] [ 9.52685621e-01 3.03899323e-01 -5.94221380e-03 8.81213035e+01] [ 6.26403818e-03 -8.41130741e-05 9.99980377e-01 9.42393717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:88.15, Z:0.94 [[ 3.04552587e-01 -9.52493461e-01 -1.98207160e-03 1.27539741e+02] [ 9.52474925e-01 3.04559026e-01 -5.94278035e-03 8.81464759e+01] [ 6.26411722e-03 -7.79843709e-05 9.99980377e-01 9.41709640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24185806399998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:127.55, Y:88.17, Z:0.94 [[ 3.04564981e-01 -9.52489502e-01 -1.98038617e-03 1.27548886e+02] [ 9.52470962e-01 3.04571410e-01 -5.94334196e-03 8.81730687e+01] [ 6.26413983e-03 -7.61264874e-05 9.99980377e-01 9.41318773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:88.20, Z:0.94 [[ 3.04486602e-01 -9.52514563e-01 -1.97885299e-03 1.27557641e+02] [ 9.52496021e-01 3.04493023e-01 -5.94385239e-03 8.81988122e+01] [ 6.26415289e-03 -7.50261755e-05 9.99980377e-01 9.42504387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:88.22, Z:0.94 [[ 3.04482366e-01 -9.52515921e-01 -1.97700981e-03 1.27566365e+02] [ 9.52497375e-01 3.04488775e-01 -5.94446540e-03 8.82240135e+01] [ 6.26417523e-03 -7.31117635e-05 9.99980377e-01 9.42585709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.331858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.58, Y:88.25, Z:0.94 [[ 3.04132412e-01 -9.52627719e-01 -1.97586094e-03 1.27575889e+02] [ 9.52609173e-01 3.04138821e-01 -5.94484724e-03 8.82499225e+01] [ 6.26416229e-03 -7.42025298e-05 9.99980377e-01 9.43731596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:88.28, Z:0.94 [[ 3.03258144e-01 -9.52906397e-01 -1.97421815e-03 1.27585361e+02] [ 9.52887852e-01 3.03264560e-01 -5.94539274e-03 8.82757317e+01] [ 6.26411317e-03 -7.82197301e-05 9.99980377e-01 9.43061685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:88.30, Z:0.94 [[ 3.02356429e-01 -9.53192897e-01 -1.97248474e-03 1.27594935e+02] [ 9.53174355e-01 3.02362851e-01 -5.94596777e-03 8.83006620e+01] [ 6.26406036e-03 -8.23202916e-05 9.99980377e-01 9.42538465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:88.33, Z:0.94 [[ 3.01443470e-01 -9.53482014e-01 -1.97081211e-03 1.27604488e+02] [ 9.53463474e-01 3.01449900e-01 -5.94652212e-03 8.83262747e+01] [ 6.26400300e-03 -8.65570944e-05 9.99980377e-01 9.42415970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.451858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.61, Y:88.35, Z:0.94 [[ 2.98787765e-01 -9.54317553e-01 -1.96968503e-03 1.27614420e+02] [ 9.54299029e-01 2.98794239e-01 -5.94689542e-03 8.83522251e+01] [ 6.26375723e-03 -1.02808923e-04 9.99980377e-01 9.44750818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:88.38, Z:0.95 [[ 2.98947038e-01 -9.54267690e-01 -1.96060456e-03 1.27625114e+02] [ 9.54249146e-01 2.98953452e-01 -5.94990100e-03 8.83780767e+01] [ 6.26392779e-03 -9.21999509e-05 9.99980377e-01 9.46328163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.511858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.63, Y:88.40, Z:0.94 [[ 2.98896173e-01 -9.54283610e-01 -1.96726422e-03 1.27634660e+02] [ 9.54265080e-01 2.98902630e-01 -5.94769825e-03 8.84032741e+01] [ 6.26381140e-03 -9.95473026e-05 9.99980377e-01 9.44635922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:88.43, Z:0.95 [[ 2.98261690e-01 -9.54482122e-01 -1.96012293e-03 1.27646871e+02] [ 9.54463581e-01 2.98268116e-01 -5.95005915e-03 8.84304524e+01] [ 6.26386726e-03 -9.61912485e-05 9.99980377e-01 9.46981438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:88.46, Z:0.95 [[ 2.98427682e-01 -9.54430197e-01 -1.97945855e-03 1.27656599e+02] [ 9.54411697e-01 2.98434224e-01 -5.94367353e-03 8.84552160e+01] [ 6.26355968e-03 -1.15461676e-04 9.99980377e-01 9.47644181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:88.48, Z:0.95 [[ 2.98971026e-01 -9.54260170e-01 -1.96295168e-03 1.27666547e+02] [ 9.54241630e-01 2.98977455e-01 -5.94912008e-03 8.84814158e+01] [ 6.26388664e-03 -9.45156805e-05 9.99980377e-01 9.48211093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:88.51, Z:0.95 [[ 3.01169153e-01 -9.53568715e-01 -1.96128127e-03 1.27676617e+02] [ 9.53550157e-01 3.01175529e-01 -5.94967073e-03 8.85077647e+01] [ 6.26410980e-03 -7.83227639e-05 9.99980377e-01 9.47175110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.661858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.69, Y:88.53, Z:0.95 [[ 3.02490444e-01 -9.53150403e-01 -1.95962303e-03 1.27685508e+02] [ 9.53131833e-01 3.02496783e-01 -5.95021685e-03 8.85334838e+01] [ 6.26423125e-03 -6.78953565e-05 9.99980377e-01 9.46210619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:88.56, Z:0.94 [[ 3.04694378e-01 -9.52448163e-01 -1.95787530e-03 1.27694299e+02] [ 9.52429574e-01 3.04700664e-01 -5.95079187e-03 8.85580533e+01] [ 6.26438669e-03 -5.15655093e-05 9.99980377e-01 9.42841284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:88.59, Z:0.95 [[ 3.07094405e-01 -9.51677085e-01 -1.93701557e-03 1.27705315e+02] [ 9.51658437e-01 3.07100513e-01 -5.95764796e-03 8.85855170e+01] [ 6.26461553e-03 -1.38168579e-05 9.99980377e-01 9.46140245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:88.61, Z:0.95 [[ 3.09031073e-01 -9.51049931e-01 -1.95561442e-03 1.27714615e+02] [ 9.51031309e-01 3.09037260e-01 -5.95153657e-03 8.86099469e+01] [ 6.26456617e-03 -2.06408132e-05 9.99980377e-01 9.45149630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:88.64, Z:0.95 [[ 3.08292390e-01 -9.51289697e-01 -1.92742472e-03 1.27725017e+02] [ 9.51271021e-01 3.08298415e-01 -5.96079207e-03 8.86379117e+01] [ 6.26466207e-03 4.16355235e-06 9.99980377e-01 9.47501219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:88.66, Z:0.95 [[ 3.08391448e-01 -9.51257535e-01 -1.95382147e-03 1.27734047e+02] [ 9.51238913e-01 3.08397637e-01 -5.95212718e-03 8.86621362e+01] [ 6.26455975e-03 -2.29658944e-05 9.99980377e-01 9.48705585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.841858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:127.75, Y:88.69, Z:0.95 [[ 3.06943711e-01 -9.51725708e-01 -1.93266819e-03 1.27745618e+02] [ 9.51707052e-01 3.06949795e-01 -5.95906109e-03 8.86885555e+01] [ 6.26462374e-03 -1.02376235e-05 9.99980377e-01 9.48879822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:88.71, Z:0.95 [[ 3.07476029e-01 -9.51553827e-01 -1.95063282e-03 1.27754701e+02] [ 9.51535205e-01 3.07482216e-01 -5.95317475e-03 8.87124343e+01] [ 6.26455112e-03 -2.56372706e-05 9.99980377e-01 9.49436593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:127.77, Y:88.74, Z:0.95 [[ 3.05512944e-01 -9.52186008e-01 -1.90959667e-03 1.27765686e+02] [ 9.52167314e-01 3.05518912e-01 -5.96659885e-03 8.87403902e+01] [ 6.26472984e-03 4.61764679e-06 9.99980376e-01 9.49905514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:88.77, Z:0.95 [[ 3.04618565e-01 -9.52472433e-01 -1.94798147e-03 1.27775807e+02] [ 9.52453824e-01 3.04624790e-01 -5.95404051e-03 8.87671052e+01] [ 6.26446290e-03 -4.16511255e-05 9.99980377e-01 9.49938385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:88.79, Z:0.95 [[ 3.04356382e-01 -9.52556247e-01 -1.94634340e-03 1.27784613e+02] [ 9.52537637e-01 3.04362603e-01 -5.95457594e-03 8.87942962e+01] [ 6.26446266e-03 -4.16521448e-05 9.99980377e-01 9.50116814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99185806399998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:127.80, Y:88.82, Z:0.95 [[ 3.04187744e-01 -9.52610117e-01 -1.94470420e-03 1.27795690e+02] [ 9.52591504e-01 3.04193958e-01 -5.95511124e-03 8.88192885e+01] [ 6.26446648e-03 -4.10368466e-05 9.99980377e-01 9.49642630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:88.85, Z:0.95 [[ 3.02625530e-01 -9.53107601e-01 -1.92069209e-03 1.27805761e+02] [ 9.53088948e-01 3.02631624e-01 -5.96294431e-03 8.88461985e+01] [ 6.26458972e-03 -2.60512232e-05 9.99980377e-01 9.49253933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:88.87, Z:0.95 [[ 3.01904023e-01 -9.53336345e-01 -1.94260243e-03 1.27815634e+02] [ 9.53317743e-01 3.01910268e-01 -5.95579782e-03 8.88724013e+01] [ 6.26437015e-03 -5.38380389e-05 9.99980377e-01 9.49395413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.081858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:127.83, Y:88.90, Z:0.95 [[ 3.01801085e-01 -9.53368941e-01 -1.94099177e-03 1.27826680e+02] [ 9.53350336e-01 3.01807322e-01 -5.95632269e-03 8.88963151e+01] [ 6.26437858e-03 -5.28204998e-05 9.99980377e-01 9.49559429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.111858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:127.84, Y:88.92, Z:0.95 [[ 2.99546946e-01 -9.54079658e-01 -1.90631055e-03 1.27837223e+02] [ 9.54060995e-01 2.99553010e-01 -5.96760870e-03 8.89233455e+01] [ 6.26461512e-03 -3.11575826e-05 9.99980377e-01 9.50637807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.141858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:127.85, Y:88.95, Z:0.95 [[ 2.98903952e-01 -9.54281232e-01 -1.93861943e-03 1.27847825e+02] [ 9.54262641e-01 2.98910230e-01 -5.95709441e-03 8.89496522e+01] [ 6.26421657e-03 -6.93530357e-05 9.99980377e-01 9.50854001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.171858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.86, Y:88.98, Z:0.95 [[ 2.97644182e-01 -9.54674913e-01 -1.93704772e-03 1.27859754e+02] [ 9.54656326e-01 2.97650475e-01 -5.95760543e-03 8.89757865e+01] [ 6.26413962e-03 -7.59682599e-05 9.99980377e-01 9.51320815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:89.00, Z:0.95 [[ 2.97450767e-01 -9.54735196e-01 -1.93541042e-03 1.27868859e+02] [ 9.54716608e-01 2.97457054e-01 -5.95813729e-03 8.90003767e+01] [ 6.26414485e-03 -7.55159624e-05 9.99980377e-01 9.50191122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.88, Y:89.03, Z:0.95 [[ 2.96467238e-01 -9.55041090e-01 -1.92165723e-03 1.27879107e+02] [ 9.55022479e-01 2.96473458e-01 -5.96260113e-03 8.90279540e+01] [ 6.26424945e-03 -6.75099634e-05 9.99980377e-01 9.51397654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.89, Y:89.05, Z:0.95 [[ 2.95948266e-01 -9.55202015e-01 -1.93240719e-03 1.27888362e+02] [ 9.55183430e-01 2.95954563e-01 -5.95911516e-03 8.90531139e+01] [ 6.26406354e-03 -8.22135278e-05 9.99980377e-01 9.50353548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:89.08, Z:0.95 [[ 2.95910050e-01 -9.55213857e-01 -1.93119297e-03 1.27902012e+02] [ 9.55195270e-01 2.95916341e-01 -5.95950863e-03 8.90810340e+01] [ 6.26407679e-03 -8.11878955e-05 9.99980377e-01 9.50421591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:89.11, Z:0.95 [[ 2.96109930e-01 -9.55151825e-01 -1.97482045e-03 1.27913554e+02] [ 9.55133330e-01 2.96116488e-01 -5.94537727e-03 8.91090935e+01] [ 6.26351485e-03 -1.25731586e-04 9.99980376e-01 9.50398053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.351858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.92, Y:89.13, Z:0.95 [[ 2.93599569e-01 -9.55926425e-01 -1.99088712e-03 1.27919245e+02] [ 9.55907982e-01 2.93606276e-01 -5.94017664e-03 8.91320372e+01] [ 6.26290877e-03 -1.59071589e-04 9.99980375e-01 9.52496646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.381858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:127.93, Y:89.16, Z:0.95 [[ 2.93065698e-01 -9.56090366e-01 -1.92561563e-03 1.27929041e+02] [ 9.56071787e-01 2.93072009e-01 -5.96126075e-03 8.91572164e+01] [ 6.26384802e-03 -9.39857351e-05 9.99980378e-01 9.52738263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.411858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.94, Y:89.19, Z:0.95 [[ 2.93005803e-01 -9.56108727e-01 -1.92385307e-03 1.27942894e+02] [ 9.56090144e-01 2.93012104e-01 -5.96182952e-03 8.91856581e+01] [ 6.26386947e-03 -9.25263155e-05 9.99980378e-01 9.51725717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.95, Y:89.21, Z:0.95 [[ 2.92056489e-01 -9.56399042e-01 -1.96950264e-03 1.27949401e+02] [ 9.56380563e-01 2.92063093e-01 -5.94709669e-03 8.92098884e+01] [ 6.26301661e-03 -1.46705871e-04 9.99980376e-01 9.53736931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:89.24, Z:0.95 [[ 2.93241953e-01 -9.56036331e-01 -1.92145755e-03 1.27962050e+02] [ 9.56017741e-01 2.93248234e-01 -5.96257936e-03 8.92385399e+01] [ 6.26390652e-03 -8.84690912e-05 9.99980378e-01 9.52554350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:89.26, Z:0.95 [[ 2.94282667e-01 -9.55716400e-01 -1.96840070e-03 1.27972803e+02] [ 9.55697903e-01 2.94289221e-01 -5.94744694e-03 8.92639196e+01] [ 6.26335168e-03 -1.30965872e-04 9.99980376e-01 9.53163068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:89.29, Z:0.95 [[ 2.94023789e-01 -9.55796072e-01 -1.96979233e-03 1.27979001e+02] [ 9.55777580e-01 2.94030356e-01 -5.94699841e-03 8.92868645e+01] [ 6.26329647e-03 -1.34124338e-04 9.99980376e-01 9.54130128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:89.31, Z:0.95 [[ 2.96125215e-01 -9.55147202e-01 -1.91814268e-03 1.27991123e+02] [ 9.55128587e-01 2.96131420e-01 -5.96361108e-03 8.93142853e+01] [ 6.26414875e-03 -6.60972948e-05 9.99980378e-01 9.53022501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:89.34, Z:0.95 [[ 2.96297654e-01 -9.55093685e-01 -1.93752816e-03 1.28002713e+02] [ 9.55075109e-01 2.96303976e-01 -5.95738055e-03 8.93434896e+01] [ 6.26395384e-03 -8.53270373e-05 9.99980378e-01 9.53925850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.621858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:128.01, Y:89.37, Z:0.95 [[ 2.95885489e-01 -9.55221347e-01 -1.98894276e-03 1.28008496e+02] [ 9.55202883e-01 2.95892139e-01 -5.94085011e-03 8.93655790e+01] [ 6.26333938e-03 -1.42032523e-04 9.99980375e-01 9.54418414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.02, Y:89.39, Z:0.96 [[ 2.95659217e-01 -9.55291571e-01 -1.90840732e-03 1.28017678e+02] [ 9.55272939e-01 2.95665370e-01 -5.96668295e-03 8.93920151e+01] [ 6.26417188e-03 -5.89450586e-05 9.99980378e-01 9.55878156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.681858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:128.03, Y:89.42, Z:0.95 [[ 2.95476016e-01 -9.55348242e-01 -1.91349656e-03 1.28026740e+02] [ 9.55329621e-01 2.95482205e-01 -5.96505142e-03 8.94180673e+01] [ 6.26410557e-03 -6.54903154e-05 9.99980378e-01 9.54799411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.04, Y:89.44, Z:0.96 [[ 2.95038711e-01 -9.55483390e-01 -1.91063815e-03 1.28036068e+02] [ 9.55464767e-01 2.95044890e-01 -5.96596684e-03 8.94446900e+01] [ 6.26410625e-03 -6.53562678e-05 9.99980378e-01 9.55178672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74185806399998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:128.05, Y:89.47, Z:0.96 [[ 2.94989782e-01 -9.55498500e-01 -1.90899327e-03 1.28045634e+02] [ 9.55479874e-01 2.94995952e-01 -5.96649313e-03 8.94702808e+01] [ 6.26412052e-03 -6.39501389e-05 9.99980378e-01 9.55996986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77185806399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:128.05, Y:89.50, Z:0.96 [[ 2.94190872e-01 -9.55744805e-01 -1.89695557e-03 1.28054608e+02] [ 9.55726159e-01 2.94196982e-01 -5.97034003e-03 8.94974683e+01] [ 6.26420007e-03 -5.65505258e-05 9.99980378e-01 9.56016161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.07, Y:89.53, Z:0.95 [[ 2.97463184e-01 -9.54731388e-01 -1.90538030e-03 1.28071815e+02] [ 9.54712739e-01 2.97469283e-01 -5.96765014e-03 8.95289072e+01] [ 6.26429502e-03 -4.39346313e-05 9.99980378e-01 9.52845747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.07, Y:89.55, Z:0.95 [[ 2.90801334e-01 -9.56781359e-01 -2.00385096e-03 1.28071635e+02] [ 9.56762961e-01 2.90808175e-01 -5.93641677e-03 8.95516220e+01] [ 6.26258914e-03 -1.90892463e-04 9.99980372e-01 9.54612574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.08, Y:89.58, Z:0.96 [[ 2.91956288e-01 -9.56429840e-01 -1.86755851e-03 1.28080865e+02] [ 9.56411148e-01 2.91962258e-01 -5.97955737e-03 8.95789867e+01] [ 6.26428369e-03 -4.03844066e-05 9.99980378e-01 9.56421821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.09, Y:89.61, Z:0.96 [[ 2.90632470e-01 -9.56832898e-01 -1.89032623e-03 1.28088587e+02] [ 9.56814261e-01 2.90638608e-01 -5.97235109e-03 8.96061706e+01] [ 6.26394379e-03 -7.29319493e-05 9.99980379e-01 9.56670897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.10, Y:89.63, Z:0.96 [[ 2.89824729e-01 -9.57077875e-01 -1.88873287e-03 1.28096625e+02] [ 9.57059241e-01 2.89830873e-01 -5.97285494e-03 8.96330519e+01] [ 6.26390042e-03 -7.65481821e-05 9.99980379e-01 9.57177980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.10, Y:89.66, Z:0.96 [[ 2.88226082e-01 -9.57560528e-01 -1.88700139e-03 1.28104396e+02] [ 9.57541900e-01 2.88232246e-01 -5.97340192e-03 8.96592230e+01] [ 6.26378855e-03 -8.51926653e-05 9.99980379e-01 9.57761014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.981858064 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:128.11, Y:89.68, Z:0.96 [[ 2.85891378e-01 -9.58260166e-01 -1.89034966e-03 1.28111175e+02] [ 9.58241561e-01 2.85897609e-01 -5.97234491e-03 8.96846304e+01] [ 6.26350668e-03 -1.03969693e-04 9.99980379e-01 9.59690072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.12, Y:89.71, Z:0.96 [[ 2.83641399e-01 -9.58928611e-01 -1.86431075e-03 1.28118922e+02] [ 9.58909966e-01 2.83647511e-01 -5.98055320e-03 8.97106738e+01] [ 6.26373068e-03 -9.13736796e-05 9.99980378e-01 9.59900663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.041858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:128.13, Y:89.74, Z:0.96 [[ 2.81961805e-01 -9.59423784e-01 -1.88243687e-03 1.28126725e+02] [ 9.59405187e-01 2.81968062e-01 -5.97484238e-03 8.97363403e+01] [ 6.26319296e-03 -1.21342355e-04 9.99980379e-01 9.60680305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.071858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:128.13, Y:89.76, Z:0.96 [[ 2.78116065e-01 -9.60545648e-01 -1.87412755e-03 1.28133568e+02] [ 9.60527059e-01 2.78122345e-01 -5.97745725e-03 8.97624358e+01] [ 6.26285729e-03 -1.37723335e-04 9.99980379e-01 9.61265339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.101858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:128.14, Y:89.79, Z:0.96 [[ 2.75832741e-01 -9.61203828e-01 -1.87092786e-03 1.28140932e+02] [ 9.61185247e-01 2.75839045e-01 -5.97846306e-03 8.97888925e+01] [ 6.26259654e-03 -1.49252402e-04 9.99980379e-01 9.61067303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:89.82, Z:0.96 [[ 2.74021704e-01 -9.61721676e-01 -1.87707877e-03 1.28148752e+02] [ 9.61703120e-01 2.74028082e-01 -5.97653122e-03 8.98160749e+01] [ 6.26213191e-03 -1.67493244e-04 9.99980379e-01 9.61114271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.161858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:128.16, Y:89.84, Z:0.96 [[ 2.73792531e-01 -9.61786932e-01 -1.88357239e-03 1.28155934e+02] [ 9.61768391e-01 2.73798953e-01 -5.97449325e-03 8.98409453e+01] [ 6.26190968e-03 -1.75788756e-04 9.99980379e-01 9.61317162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:89.87, Z:0.96 [[ 2.74729778e-01 -9.61519670e-01 -1.86350341e-03 1.28166847e+02] [ 9.61501081e-01 2.74736058e-01 -5.98078113e-03 8.98714474e+01] [ 6.26261028e-03 -1.48661875e-04 9.99980379e-01 9.63116373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:89.90, Z:0.96 [[ 2.71810219e-01 -9.62348913e-01 -1.94282196e-03 1.28168540e+02] [ 9.62330515e-01 2.71817047e-01 -5.95591231e-03 8.98962844e+01] [ 6.25975787e-03 -2.50759027e-04 9.99980376e-01 9.60011679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:89.92, Z:0.96 [[ 2.70864687e-01 -9.62615585e-01 -1.88567489e-03 1.28172874e+02] [ 9.62597069e-01 2.70871179e-01 -5.97378714e-03 8.99196368e+01] [ 6.26123558e-03 -1.97057140e-04 9.99980379e-01 9.58493783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.19, Y:89.95, Z:0.96 [[ 2.77915475e-01 -9.60603788e-01 -1.83062502e-03 1.28188337e+02] [ 9.60585110e-01 2.77921489e-01 -5.99101117e-03 8.99510389e+01] [ 6.26375805e-03 -9.34764182e-05 9.99980378e-01 9.60894785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.311858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:128.19, Y:89.98, Z:0.96 [[ 2.75355186e-01 -9.61340571e-01 -1.95676690e-03 1.28191508e+02] [ 9.61322180e-01 2.75362032e-01 -5.95127174e-03 8.99781944e+01] [ 6.26001828e-03 -2.42369891e-04 9.99980377e-01 9.59802982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.341858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:128.20, Y:90.00, Z:0.96 [[ 2.77725751e-01 -9.60658445e-01 -1.93905954e-03 1.28197991e+02] [ 9.60639999e-01 2.77732442e-01 -5.95684234e-03 9.00026903e+01] [ 6.26103064e-03 -2.08369636e-04 9.99980378e-01 9.60187909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.371858064 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:128.20, Y:90.03, Z:0.96 [[ 2.76848847e-01 -9.60911608e-01 -1.89657385e-03 1.28204784e+02] [ 9.60893076e-01 2.76855292e-01 -5.97018860e-03 9.00325894e+01] [ 6.26190003e-03 -1.69564848e-04 9.99980380e-01 9.60991900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:90.06, Z:0.96 [[ 2.79359180e-01 -9.60184673e-01 -1.96033219e-03 1.28211014e+02] [ 9.60166262e-01 2.79365971e-01 -5.95014921e-03 9.00588262e+01] [ 6.26089218e-03 -2.20016032e-04 9.99980376e-01 9.62047002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.431858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:128.21, Y:90.08, Z:0.96 [[ 2.78220060e-01 -9.60515405e-01 -1.93803989e-03 1.28214066e+02] [ 9.60496953e-01 2.78226735e-01 -5.95706010e-03 9.00841946e+01] [ 6.26106250e-03 -2.04107793e-04 9.99980379e-01 9.60884777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:128.22, Y:90.11, Z:0.96 [[ 2.80046377e-01 -9.59984623e-01 -1.88437089e-03 1.28220401e+02] [ 9.59966046e-01 2.80052684e-01 -5.97365925e-03 9.01090970e+01] [ 6.26234415e-03 -1.36030438e-04 9.99980382e-01 9.61663164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:90.14, Z:0.96 [[ 2.79425449e-01 -9.60165612e-01 -1.84838002e-03 1.28227309e+02] [ 9.60146965e-01 2.79431544e-01 -5.98477493e-03 9.01368575e+01] [ 6.26287076e-03 -1.02418049e-04 9.99980383e-01 9.62568154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.23, Y:90.16, Z:0.96 [[ 2.79203171e-01 -9.60230251e-01 -1.85853897e-03 1.28234531e+02] [ 9.60211627e-01 2.79209333e-01 -5.98163985e-03 9.01629363e+01] [ 6.26267296e-03 -1.14497913e-04 9.99980383e-01 9.63075154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.24, Y:90.19, Z:0.96 [[ 2.78611392e-01 -9.60402149e-01 -1.84510496e-03 1.28242123e+02] [ 9.60383501e-01 2.78617482e-01 -5.98578086e-03 9.01897878e+01] [ 6.26283530e-03 -1.04301622e-04 9.99980383e-01 9.62915722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.581858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:128.25, Y:90.22, Z:0.96 [[ 2.76544883e-01 -9.60999235e-01 -1.84342096e-03 1.28250010e+02] [ 9.60980597e-01 2.76551002e-01 -5.98629943e-03 9.02169895e+01] [ 6.26262908e-03 -1.16011297e-04 9.99980383e-01 9.62412295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.26, Y:90.24, Z:0.96 [[ 2.74557728e-01 -9.61568855e-01 -1.84174357e-03 1.28257118e+02] [ 9.61550226e-01 2.74563876e-01 -5.98681545e-03 9.02443423e+01] [ 6.26241153e-03 -1.27202496e-04 9.99980383e-01 9.62149930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:90.27, Z:0.96 [[ 2.74139939e-01 -9.61688079e-01 -1.82536250e-03 1.28266721e+02] [ 9.61669419e-01 2.74145993e-01 -5.99184746e-03 9.02713621e+01] [ 6.26270409e-03 -1.12790596e-04 9.99980383e-01 9.62761236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:90.30, Z:0.96 [[ 2.71877537e-01 -9.62330064e-01 -1.85805691e-03 1.28274751e+02] [ 9.62311486e-01 2.71883838e-01 -5.98180057e-03 9.02996851e+01] [ 6.26164217e-03 -1.61712307e-04 9.99980383e-01 9.62244986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.28, Y:90.32, Z:0.96 [[ 2.72134343e-01 -9.62257464e-01 -1.86364594e-03 1.28281731e+02] [ 9.62238896e-01 2.72140674e-01 -5.98008610e-03 9.03248158e+01] [ 6.26155634e-03 -1.65885803e-04 9.99980383e-01 9.62036742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.29, Y:90.35, Z:0.96 [[ 2.71170474e-01 -9.62529573e-01 -1.84280146e-03 1.28289323e+02] [ 9.62510968e-01 2.71176694e-01 -5.98647242e-03 9.03529729e+01] [ 6.26188155e-03 -1.50362054e-04 9.99980383e-01 9.60352755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:90.38, Z:0.96 [[ 2.70823443e-01 -9.62627268e-01 -1.84554425e-03 1.28296561e+02] [ 9.62608671e-01 2.70829687e-01 -5.98563291e-03 9.03790073e+01] [ 6.26176163e-03 -1.55487187e-04 9.99980383e-01 9.61442528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.791858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:128.30, Y:90.40, Z:0.96 [[ 2.70271899e-01 -9.62782301e-01 -1.82813260e-03 1.28303707e+02] [ 9.62763671e-01 2.70278045e-01 -5.99095725e-03 9.04048101e+01] [ 6.26209171e-03 -1.40872265e-04 9.99980383e-01 9.60215542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.31, Y:90.43, Z:0.96 [[ 2.68365289e-01 -9.63315529e-01 -1.80665340e-03 1.28311450e+02] [ 9.63296867e-01 2.68371338e-01 -5.99751630e-03 9.04322683e+01] [ 6.26235457e-03 -1.30818367e-04 9.99980383e-01 9.60340364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:90.46, Z:0.96 [[ 2.68093159e-01 -9.63391266e-01 -1.82411994e-03 1.28319453e+02] [ 9.63372642e-01 2.68099322e-01 -5.99218509e-03 9.04586700e+01] [ 6.26186410e-03 -1.50843417e-04 9.99980383e-01 9.60520059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.881858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:128.33, Y:90.49, Z:0.96 [[ 2.66428260e-01 -9.63853029e-01 -1.82237003e-03 1.28327957e+02] [ 9.63834412e-01 2.66434444e-01 -5.99271865e-03 9.04855127e+01] [ 6.26164217e-03 -1.59833348e-04 9.99980383e-01 9.61703697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.34, Y:90.51, Z:0.96 [[ 2.65580769e-01 -9.64086887e-01 -1.82443584e-03 1.28336297e+02] [ 9.64068280e-01 2.65586983e-01 -5.99208905e-03 9.05115439e+01] [ 6.26144089e-03 -1.67497102e-04 9.99980383e-01 9.62854546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.941858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.34, Y:90.54, Z:0.96 [[ 2.64450684e-01 -9.64397507e-01 -1.81210579e-03 1.28344660e+02] [ 9.64378882e-01 2.64456843e-01 -5.99584304e-03 9.05373668e+01] [ 6.26159986e-03 -1.61951762e-04 9.99980383e-01 9.63984585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.971858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:128.36, Y:90.57, Z:0.96 [[ 2.64118411e-01 -9.64488585e-01 -1.79849681e-03 1.28356411e+02] [ 9.64469934e-01 2.64124492e-01 -5.99998420e-03 9.05660927e+01] [ 6.26194333e-03 -1.49889808e-04 9.99980383e-01 9.64934533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.37, Y:90.59, Z:0.97 [[ 2.63565849e-01 -9.64639654e-01 -1.83863195e-03 1.28367222e+02] [ 9.64621090e-01 2.63572190e-01 -5.98776945e-03 9.05905756e+01] [ 6.26065210e-03 -1.95411617e-04 9.99980383e-01 9.66973491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.031858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:128.38, Y:90.62, Z:0.97 [[ 2.63037410e-01 -9.64783915e-01 -1.82171277e-03 1.28377531e+02] [ 9.64765319e-01 2.63043656e-01 -5.99291399e-03 9.06174055e+01] [ 6.26105700e-03 -1.81164729e-04 9.99980383e-01 9.68164336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.061858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:128.39, Y:90.65, Z:0.97 [[ 2.61880413e-01 -9.65098570e-01 -1.84389449e-03 1.28385431e+02] [ 9.65080028e-01 2.61886819e-01 -5.98618236e-03 9.06458299e+01] [ 6.26014770e-03 -2.11841835e-04 9.99980383e-01 9.66611567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.40, Y:90.67, Z:0.97 [[ 2.63315137e-01 -9.64708115e-01 -1.84157956e-03 1.28395213e+02] [ 9.64689559e-01 2.63321500e-01 -5.98688366e-03 9.06737531e+01] [ 6.26052275e-03 -2.00115486e-04 9.99980383e-01 9.67698840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.40, Y:90.70, Z:0.97 [[ 2.65222327e-01 -9.64185480e-01 -1.86490397e-03 1.28403674e+02] [ 9.64166960e-01 2.65228798e-01 -5.97981896e-03 9.06998482e+01] [ 6.26028085e-03 -2.12097290e-04 9.99980382e-01 9.67502955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.41, Y:90.72, Z:0.97 [[ 2.64273401e-01 -9.64445955e-01 -1.88933675e-03 1.28407997e+02] [ 9.64427494e-01 2.64280042e-01 -5.97238487e-03 9.07239452e+01] [ 6.25935643e-03 -2.43785847e-04 9.99980380e-01 9.65245462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.42, Y:90.75, Z:0.97 [[ 2.67308638e-01 -9.63609218e-01 -1.83490143e-03 1.28419870e+02] [ 9.63590622e-01 2.67314883e-01 -5.98888940e-03 9.07526853e+01] [ 6.26144549e-03 -1.67211944e-04 9.99980383e-01 9.65643743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.43, Y:90.78, Z:0.96 [[ 2.67792744e-01 -9.63474734e-01 -1.86658140e-03 1.28428937e+02] [ 9.63456200e-01 2.67799177e-01 -5.97930705e-03 9.07793338e+01] [ 6.26078023e-03 -1.97154376e-04 9.99980382e-01 9.64566340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24185806399998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:128.43, Y:90.80, Z:0.96 [[ 2.64988419e-01 -9.64249797e-01 -1.86193885e-03 1.28433707e+02] [ 9.64231272e-01 2.64994876e-01 -5.98070966e-03 9.08037602e+01] [ 6.26030233e-03 -2.10520874e-04 9.99980382e-01 9.63629845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:128.44, Y:90.83, Z:0.96 [[ 2.63946745e-01 -9.64535560e-01 -1.80795304e-03 1.28444726e+02] [ 9.64516931e-01 2.63952888e-01 -5.99698515e-03 9.08318615e+01] [ 6.26151986e-03 -1.60916603e-04 9.99980384e-01 9.64424333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.301858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:128.45, Y:90.86, Z:0.96 [[ 2.62410395e-01 -9.64954636e-01 -1.82630087e-03 1.28451317e+02] [ 9.64936054e-01 2.62416682e-01 -5.99145714e-03 9.08572596e+01] [ 6.26073615e-03 -1.90042915e-04 9.99980383e-01 9.64705755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.331858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.46, Y:90.88, Z:0.96 [[ 2.61396426e-01 -9.65229844e-01 -1.80475075e-03 1.28459489e+02] [ 9.65211224e-01 2.61402598e-01 -5.99794146e-03 9.08841784e+01] [ 6.26115864e-03 -1.74125213e-04 9.99980384e-01 9.64846393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.47, Y:90.91, Z:0.96 [[ 2.57848664e-01 -9.66183634e-01 -1.80305692e-03 1.28465438e+02] [ 9.66165034e-01 2.57854894e-01 -5.99845061e-03 9.09114055e+01] [ 6.26053186e-03 -1.95358070e-04 9.99980384e-01 9.62666450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.391858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:128.47, Y:90.94, Z:0.96 [[ 2.56165331e-01 -9.66631334e-01 -1.78525191e-03 1.28471483e+02] [ 9.66612707e-01 2.56171483e-01 -6.00379746e-03 9.09364999e+01] [ 6.26078938e-03 -1.87682415e-04 9.99980383e-01 9.61779854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.421858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.48, Y:90.96, Z:0.96 [[ 2.55378100e-01 -9.66839651e-01 -1.76490905e-03 1.28478467e+02] [ 9.66820987e-01 2.55384141e-01 -6.00990488e-03 9.09638888e+01] [ 6.26134412e-03 -1.71553016e-04 9.99980383e-01 9.61514191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.49, Y:90.99, Z:0.96 [[ 2.56840179e-01 -9.66452295e-01 -1.75601769e-03 1.28488624e+02] [ 9.66433604e-01 2.56846136e-01 -6.01257287e-03 9.09917243e+01] [ 6.26189121e-03 -1.52804214e-04 9.99980383e-01 9.62507583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.49, Y:91.02, Z:0.96 [[ 2.54377561e-01 -9.67103311e-01 -1.80045453e-03 1.28492989e+02] [ 9.67084728e-01 2.54383842e-01 -5.99923677e-03 9.10179216e+01] [ 6.25988828e-03 -2.15120859e-04 9.99980384e-01 9.60028304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.50, Y:91.05, Z:0.96 [[ 2.55227226e-01 -9.66879497e-01 -1.76118286e-03 1.28501710e+02] [ 9.66860826e-01 2.55233247e-01 -6.01100900e-03 9.10465628e+01] [ 6.26143377e-03 -1.68645564e-04 9.99980383e-01 9.61371511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:91.07, Z:0.96 [[ 2.56461154e-01 -9.66552866e-01 -1.79838926e-03 1.28510048e+02] [ 9.66534264e-01 2.56467381e-01 -5.99985680e-03 9.10739759e+01] [ 6.26040697e-03 -1.99474639e-04 9.99980384e-01 9.59039818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.52, Y:91.10, Z:0.96 [[ 2.58600615e-01 -9.65982660e-01 -1.79529622e-03 1.28518612e+02] [ 9.65964038e-01 2.58606782e-01 -6.00078305e-03 9.11007057e+01] [ 6.26092815e-03 -1.82385401e-04 9.99980384e-01 9.56780125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.601858064 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:128.52, Y:91.13, Z:0.96 [[ 2.59242108e-01 -9.65810677e-01 -1.80716041e-03 1.28524330e+02] [ 9.65792076e-01 2.59248336e-01 -5.99722692e-03 9.11272673e+01] [ 6.26068912e-03 -1.90607460e-04 9.99980384e-01 9.57047429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.53, Y:91.15, Z:0.96 [[ 2.59246190e-01 -9.65809603e-01 -1.79570777e-03 1.28529890e+02] [ 9.65790978e-01 2.59252348e-01 -6.00065414e-03 9.11539497e+01] [ 6.26103085e-03 -1.78631637e-04 9.99980384e-01 9.55039153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.53, Y:91.18, Z:0.96 [[ 2.59393309e-01 -9.65770079e-01 -1.80701181e-03 1.28534548e+02] [ 9.65751477e-01 2.59399534e-01 -5.99728543e-03 9.11814678e+01] [ 6.26073684e-03 -1.89468615e-04 9.99980383e-01 9.57328023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:91.21, Z:0.95 [[ 2.63270459e-01 -9.64720405e-01 -1.79028474e-03 1.28543717e+02] [ 9.64701744e-01 2.63276505e-01 -6.00226505e-03 9.12092940e+01] [ 6.26184748e-03 -1.46871742e-04 9.99980384e-01 9.54038973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.55, Y:91.24, Z:0.96 [[ 2.62760449e-01 -9.64859393e-01 -1.81603894e-03 1.28549356e+02] [ 9.64840787e-01 2.62766665e-01 -5.99460081e-03 9.12379512e+01] [ 6.26114140e-03 -1.77044434e-04 9.99980383e-01 9.55374820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.751858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:128.55, Y:91.26, Z:0.96 [[ 2.60620023e-01 -9.65439732e-01 -1.82428996e-03 1.28547562e+02] [ 9.65421156e-01 2.60626332e-01 -5.99214755e-03 9.12617733e+01] [ 6.26051532e-03 -1.99534490e-04 9.99980383e-01 9.55938754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:91.29, Z:0.96 [[ 2.65328865e-01 -9.64156389e-01 -1.74665593e-03 1.28559389e+02] [ 9.64137629e-01 2.65334599e-01 -6.01520054e-03 9.12919626e+01] [ 6.26304229e-03 -8.80103764e-05 9.99980383e-01 9.55669797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.811858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.57, Y:91.32, Z:0.95 [[ 2.66238418e-01 -9.63905499e-01 -1.81490215e-03 1.28565823e+02] [ 9.63886868e-01 2.66244560e-01 -5.99492191e-03 9.13187055e+01] [ 6.26174602e-03 -1.53281822e-04 9.99980383e-01 9.54813679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:91.35, Z:0.95 [[ 2.68342947e-01 -9.63321744e-01 -1.81094375e-03 1.28571387e+02] [ 9.63303093e-01 2.68349023e-01 -5.99609751e-03 9.13478254e+01] [ 6.26213610e-03 -1.35477233e-04 9.99980383e-01 9.54348384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:91.37, Z:0.96 [[ 2.68086270e-01 -9.63393189e-01 -1.82055734e-03 1.28574333e+02] [ 9.63374559e-01 2.68092411e-01 -5.99324067e-03 9.13721491e+01] [ 6.26192485e-03 -1.47173087e-04 9.99980383e-01 9.55237236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:91.40, Z:0.95 [[ 2.71256867e-01 -9.62505372e-01 -1.76657557e-03 1.28583660e+02] [ 9.62486616e-01 2.71262610e-01 -6.00923665e-03 9.13999044e+01] [ 6.26312845e-03 -7.02586340e-05 9.99980384e-01 9.52608028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.58, Y:91.43, Z:0.96 [[ 2.69377282e-01 -9.63033025e-01 -1.80920483e-03 1.28583770e+02] [ 9.63014363e-01 2.69383327e-01 -5.99662390e-03 9.14272592e+01] [ 6.26231647e-03 -1.26935988e-04 9.99980383e-01 9.57031876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:128.59, Y:91.45, Z:0.96 [[ 2.69413908e-01 -9.63022843e-01 -1.77483316e-03 1.28589806e+02] [ 9.63004114e-01 2.69419739e-01 -6.00677976e-03 9.14543259e+01] [ 6.26284121e-03 -9.08616261e-05 9.99980384e-01 9.57379286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.60, Y:91.48, Z:0.96 [[ 2.69381134e-01 -9.63032014e-01 -1.77316344e-03 1.28595830e+02] [ 9.63013282e-01 2.69386955e-01 -6.00727261e-03 9.14804626e+01] [ 6.26286294e-03 -8.93340378e-05 9.99980384e-01 9.56688802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02185806399999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:128.60, Y:91.51, Z:0.96 [[ 2.69229678e-01 -9.63074370e-01 -1.77140322e-03 1.28602394e+02] [ 9.63055636e-01 2.69235491e-01 -6.00779161e-03 9.15072822e+01] [ 6.26287474e-03 -8.84840578e-05 9.99980384e-01 9.56088266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.051858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:128.61, Y:91.53, Z:0.96 [[ 2.67928475e-01 -9.63437181e-01 -1.76956657e-03 1.28607705e+02] [ 9.63418450e-01 2.67934301e-01 -6.00833254e-03 9.15339401e+01] [ 6.26277854e-03 -9.50297070e-05 9.99980384e-01 9.55846831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.081858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.61, Y:91.56, Z:0.96 [[ 2.65731927e-01 -9.64045369e-01 -1.75179037e-03 1.28613886e+02] [ 9.64026618e-01 2.65737685e-01 -6.01356194e-03 9.15610235e+01] [ 6.26286326e-03 -9.07771450e-05 9.99980384e-01 9.58493910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.111858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.62, Y:91.59, Z:0.96 [[ 2.64369118e-01 -9.64419954e-01 -1.76674912e-03 1.28620157e+02] [ 9.64401240e-01 2.64374996e-01 -6.00916394e-03 9.15882051e+01] [ 6.26244190e-03 -1.15217675e-04 9.99980384e-01 9.58190843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:91.62, Z:0.96 [[ 2.64897549e-01 -9.64274947e-01 -1.76509492e-03 1.28627011e+02] [ 9.64256226e-01 2.64903406e-01 -6.00964979e-03 9.16153924e+01] [ 6.26253439e-03 -1.10062263e-04 9.99980384e-01 9.55539302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:91.64, Z:0.96 [[ 2.61722469e-01 -9.65141556e-01 -1.76785929e-03 1.28631812e+02] [ 9.65122860e-01 2.61728406e-01 -6.00883830e-03 9.16418816e+01] [ 6.26207855e-03 -1.33553416e-04 9.99980384e-01 9.57121628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.201858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:128.64, Y:91.67, Z:0.96 [[ 2.60800853e-01 -9.65391012e-01 -1.76313666e-03 1.28638880e+02] [ 9.65372312e-01 2.60806778e-01 -6.01022372e-03 9.16692509e+01] [ 6.26205395e-03 -1.34611844e-04 9.99980384e-01 9.57096451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.231858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.64, Y:91.70, Z:0.96 [[ 2.59253591e-01 -9.65807679e-01 -1.76149938e-03 1.28644702e+02] [ 9.65788985e-01 2.59259536e-01 -6.01070354e-03 9.16968106e+01] [ 6.26186915e-03 -1.42940223e-04 9.99980384e-01 9.57628437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:91.73, Z:0.96 [[ 2.59327739e-01 -9.65787775e-01 -1.75985398e-03 1.28653435e+02] [ 9.65769078e-01 2.59333672e-01 -6.01118525e-03 9.17253796e+01] [ 6.26191863e-03 -1.40745480e-04 9.99980384e-01 9.59043007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.66, Y:91.75, Z:0.96 [[ 2.57863617e-01 -9.66179693e-01 -1.77617717e-03 1.28658742e+02] [ 9.66161038e-01 2.57869680e-01 -6.00640871e-03 9.17517627e+01] [ 6.26129237e-03 -1.67238905e-04 9.99980384e-01 9.58072648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.67, Y:91.78, Z:0.96 [[ 2.56451385e-01 -9.66555533e-01 -1.75756249e-03 1.28665597e+02] [ 9.66536849e-01 2.56457359e-01 -6.01185071e-03 9.17805103e+01] [ 6.26152740e-03 -1.57001469e-04 9.99980384e-01 9.56918990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.351858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:128.67, Y:91.81, Z:0.96 [[ 2.57727510e-01 -9.66215986e-01 -1.78885272e-03 1.28672268e+02] [ 9.66197356e-01 2.57733654e-01 -6.00270006e-03 9.18061223e+01] [ 6.26095230e-03 -1.81323826e-04 9.99980384e-01 9.60479512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:128.69, Y:91.84, Z:0.96 [[ 2.60815668e-01 -9.65387023e-01 -1.75577080e-03 1.28686987e+02] [ 9.65368309e-01 2.60821546e-01 -6.01236087e-03 9.18377246e+01] [ 6.26219802e-03 -1.26847575e-04 9.99980384e-01 9.57360856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.411858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.69, Y:91.86, Z:0.96 [[ 2.56793289e-01 -9.66464575e-01 -1.85264767e-03 1.28685231e+02] [ 9.66446082e-01 2.56799846e-01 -5.98417658e-03 9.18608893e+01] [ 6.25925432e-03 -2.53787696e-04 9.99980378e-01 9.63153647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.69, Y:91.89, Z:0.96 [[ 2.57080351e-01 -9.66388459e-01 -1.74360742e-03 1.28692492e+02] [ 9.66369744e-01 2.57086226e-01 -6.01578074e-03 9.18871793e+01] [ 6.26183852e-03 -1.38430432e-04 9.99980385e-01 9.63148285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.471858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.70, Y:91.91, Z:0.96 [[ 2.57376598e-01 -9.66309604e-01 -1.74238325e-03 1.28700174e+02] [ 9.66290886e-01 2.57382460e-01 -6.01613528e-03 9.19138959e+01] [ 6.26190818e-03 -1.35236627e-04 9.99980385e-01 9.63805469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.71, Y:91.94, Z:0.96 [[ 2.58437840e-01 -9.66026321e-01 -1.74067530e-03 1.28707167e+02] [ 9.66007593e-01 2.58443671e-01 -6.01662941e-03 9.19395406e+01] [ 6.26208888e-03 -1.26580845e-04 9.99980385e-01 9.64156994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.71, Y:91.97, Z:0.96 [[ 2.59324568e-01 -9.65788664e-01 -1.73915242e-03 1.28714544e+02] [ 9.65769928e-01 2.59330372e-01 -6.01706957e-03 9.19663040e+01] [ 6.26223263e-03 -1.19247141e-04 9.99980385e-01 9.64704931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.72, Y:91.99, Z:0.97 [[ 2.60351941e-01 -9.65512221e-01 -1.73748125e-03 1.28721801e+02] [ 9.65493475e-01 2.60357715e-01 -6.01755210e-03 9.19921169e+01] [ 6.26238674e-03 -1.10845445e-04 9.99980385e-01 9.65146498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:92.02, Z:0.96 [[ 2.61406197e-01 -9.65227323e-01 -1.73626035e-03 1.28729687e+02] [ 9.65208569e-01 2.61411943e-01 -6.01790424e-03 9.20192700e+01] [ 6.26252479e-03 -1.02735908e-04 9.99980385e-01 9.64113676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.621858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:128.73, Y:92.04, Z:0.96 [[ 2.57224518e-01 -9.66350104e-01 -1.73885481e-03 1.28726086e+02] [ 9.66331380e-01 2.57230361e-01 -6.01715632e-03 9.20384659e+01] [ 6.26196589e-03 -1.32549829e-04 9.99980385e-01 9.60103147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:92.07, Z:0.97 [[ 2.66209037e-01 -9.63914017e-01 -1.58601025e-03 1.28746704e+02] [ 9.63894963e-01 2.66213748e-01 -6.06133728e-03 9.20713222e+01] [ 6.26482570e-03 8.48354737e-05 9.99980372e-01 9.67407830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:92.10, Z:0.97 [[ 2.67546077e-01 -9.63543490e-01 -1.74341391e-03 1.28755992e+02] [ 9.63524713e-01 2.67551748e-01 -6.01572027e-03 9.20972704e+01] [ 6.26286154e-03 -7.03400275e-05 9.99980386e-01 9.67625492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:92.12, Z:0.97 [[ 2.69089745e-01 -9.63113532e-01 -1.74163245e-03 1.28763858e+02] [ 9.63094743e-01 2.69095375e-01 -6.01623598e-03 9.21233998e+01] [ 6.26298352e-03 -5.84496513e-05 9.99980386e-01 9.67189520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:92.15, Z:0.97 [[ 2.68856569e-01 -9.63178678e-01 -1.72596372e-03 1.28771727e+02] [ 9.63159862e-01 2.68862105e-01 -6.02076726e-03 9.21508570e+01] [ 6.26312089e-03 -4.36561540e-05 9.99980386e-01 9.67362975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.78, Y:92.18, Z:0.97 [[ 2.68473196e-01 -9.63285611e-01 -1.72490691e-03 1.28779663e+02] [ 9.63266794e-01 2.68478734e-01 -6.02107265e-03 9.21784532e+01] [ 6.26311347e-03 -4.50489260e-05 9.99980386e-01 9.67594189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:92.20, Z:0.96 [[ 2.58232763e-01 -9.66081166e-01 -1.73815898e-03 1.28774945e+02] [ 9.66062435e-01 2.58238582e-01 -6.01724462e-03 9.21967951e+01] [ 6.26200641e-03 -1.25320388e-04 9.99980386e-01 9.62313174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.831858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.80, Y:92.23, Z:0.97 [[ 2.68151387e-01 -9.63375575e-01 -1.52840197e-03 1.28797991e+02] [ 9.63356417e-01 2.68155696e-01 -6.07756917e-03 9.22311952e+01] [ 6.26483139e-03 1.57312758e-04 9.99980363e-01 9.68856961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:92.25, Z:0.96 [[ 2.58213071e-01 -9.66086430e-01 -1.73754329e-03 1.28792867e+02] [ 9.66067699e-01 2.58218887e-01 -6.01717687e-03 9.22484244e+01] [ 6.26177941e-03 -1.24870734e-04 9.99980387e-01 9.64103037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:92.28, Z:0.97 [[ 2.66354028e-01 -9.63874048e-01 -1.53326180e-03 1.28817309e+02] [ 9.63854908e-01 2.66358404e-01 -6.07589184e-03 9.22826979e+01] [ 6.26479163e-03 1.40496352e-04 9.99980366e-01 9.70785172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:92.31, Z:0.97 [[ 2.65318018e-01 -9.64159392e-01 -1.73659618e-03 1.28825989e+02] [ 9.64140619e-01 2.65323690e-01 -6.01720868e-03 9.23094793e+01] [ 6.26230837e-03 -7.78490365e-05 9.99980389e-01 9.70448825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:92.34, Z:0.97 [[ 2.64049407e-01 -9.64507595e-01 -1.73490068e-03 1.28834372e+02] [ 9.64488826e-01 2.64055093e-01 -6.01769750e-03 9.23351700e+01] [ 6.26222430e-03 -8.43228644e-05 9.99980389e-01 9.70049824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:92.36, Z:0.97 [[ 2.62193914e-01 -9.65013651e-01 -1.73366330e-03 1.28844237e+02] [ 9.64994890e-01 2.62199628e-01 -6.01805395e-03 9.23617086e+01] [ 6.26207009e-03 -9.50791090e-05 9.99980389e-01 9.69359678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:92.39, Z:0.97 [[ 2.60929106e-01 -9.65356412e-01 -1.73198742e-03 1.28853062e+02] [ 9.65337656e-01 2.60934834e-01 -6.01853623e-03 9.23876832e+01] [ 6.26196839e-03 -1.01541396e-04 9.99980389e-01 9.69067625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:92.41, Z:0.97 [[ 2.58397496e-01 -9.66037132e-01 -1.73022157e-03 1.28860023e+02] [ 9.66018388e-01 2.58403262e-01 -6.01904384e-03 9.24129264e+01] [ 6.26171475e-03 -1.16120000e-04 9.99980389e-01 9.70177549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.87, Y:92.44, Z:0.97 [[ 2.56833643e-01 -9.66454149e-01 -1.69028941e-03 1.28871400e+02] [ 9.66435338e-01 2.56839191e-01 -6.03050960e-03 9.24383527e+01] [ 6.26234359e-03 -8.47176663e-05 9.99980388e-01 9.69419461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.88, Y:92.47, Z:0.97 [[ 2.58036106e-01 -9.66133804e-01 -1.68533601e-03 1.28883060e+02] [ 9.66114977e-01 2.58041599e-01 -6.03192918e-03 9.24653816e+01] [ 6.26253749e-03 -7.17728481e-05 9.99980388e-01 9.67669683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:92.49, Z:0.97 [[ 2.56832241e-01 -9.66454480e-01 -1.71431219e-03 1.28893598e+02] [ 9.66435714e-01 2.56837939e-01 -6.02362449e-03 9.24943773e+01] [ 6.26185929e-03 -1.09711552e-04 9.99980388e-01 9.67892235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.90, Y:92.52, Z:0.97 [[ 2.56608547e-01 -9.66513824e-01 -1.75551476e-03 1.28903430e+02] [ 9.66495139e-01 2.56614506e-01 -6.01181692e-03 9.25201884e+01] [ 6.26099471e-03 -1.54012875e-04 9.99980388e-01 9.67736488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.191858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.91, Y:92.55, Z:0.97 [[ 2.57941126e-01 -9.66159070e-01 -1.73967280e-03 1.28912312e+02] [ 9.66140346e-01 2.57946961e-01 -6.01635073e-03 9.25454896e+01] [ 6.26149513e-03 -1.28903801e-04 9.99980388e-01 9.69023145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.92, Y:92.57, Z:0.97 [[ 2.57152645e-01 -9.66369276e-01 -1.71456041e-03 1.28922087e+02] [ 9.66350509e-01 2.57158338e-01 -6.02353322e-03 9.25741852e+01] [ 6.26187094e-03 -1.07898826e-04 9.99980388e-01 9.71637261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.93, Y:92.60, Z:0.97 [[ 2.57516024e-01 -9.66272458e-01 -1.74219757e-03 1.28930890e+02] [ 9.66253741e-01 2.57521882e-01 -6.01563270e-03 9.26006499e+01] [ 6.26139419e-03 -1.34283110e-04 9.99980388e-01 9.72470186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:92.63, Z:0.97 [[ 2.56821884e-01 -9.66457191e-01 -1.73728394e-03 1.28937644e+02] [ 9.66438469e-01 2.56827725e-01 -6.01703574e-03 9.26265983e+01] [ 6.26139014e-03 -1.33671577e-04 9.99980388e-01 9.74085286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.311858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.94, Y:92.65, Z:0.97 [[ 2.56279324e-01 -9.66601264e-01 -1.70430281e-03 1.28943784e+02] [ 9.66582483e-01 2.56284971e-01 -6.02643911e-03 9.26531161e+01] [ 6.26195086e-03 -1.02897501e-04 9.99980389e-01 9.74907264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.96, Y:92.68, Z:0.97 [[ 2.60914224e-01 -9.65360543e-01 -1.67003161e-03 1.28955272e+02] [ 9.65341672e-01 2.60919566e-01 -6.03619646e-03 9.26806191e+01] [ 6.26284981e-03 -3.72215902e-05 9.99980387e-01 9.74444384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.371858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:128.97, Y:92.71, Z:0.97 [[ 2.64011138e-01 -9.64518124e-01 -1.70534524e-03 1.28966498e+02] [ 9.64499300e-01 2.64016640e-01 -6.02613725e-03 9.27094214e+01] [ 6.26255811e-03 -5.38369356e-05 9.99980389e-01 9.74956252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:92.73, Z:0.98 [[ 2.63630044e-01 -9.64622304e-01 -1.73507600e-03 1.28972659e+02] [ 9.64603538e-01 2.63635739e-01 -6.01767168e-03 9.27345782e+01] [ 6.26220836e-03 -8.72213930e-05 9.99980388e-01 9.75701939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.431858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:128.98, Y:92.76, Z:0.97 [[ 2.65733754e-01 -9.64044946e-01 -1.70723239e-03 1.28980661e+02] [ 9.64026116e-01 2.65739235e-01 -6.02559026e-03 9.27598304e+01] [ 6.26261846e-03 -4.46138839e-05 9.99980389e-01 9.74829694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.99, Y:92.79, Z:0.98 [[ 2.67898965e-01 -9.63445523e-01 -1.69367125e-03 1.28991225e+02] [ 9.63426656e-01 2.67904318e-01 -6.02944357e-03 9.27881503e+01] [ 6.26278226e-03 -1.64463387e-05 9.99980388e-01 9.75973765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.00, Y:92.81, Z:0.98 [[ 2.68261749e-01 -9.63344513e-01 -1.72753539e-03 1.28996664e+02] [ 9.63325705e-01 2.68267307e-01 -6.01982113e-03 9.28118430e+01] [ 6.26260292e-03 -4.92915079e-05 9.99980389e-01 9.77341302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.01, Y:92.84, Z:0.98 [[ 2.67175128e-01 -9.63646538e-01 -1.67332884e-03 1.29006554e+02] [ 9.63627639e-01 2.67180368e-01 -6.03520976e-03 9.28406076e+01] [ 6.26288961e-03 -7.98032069e-09 9.99980388e-01 9.77252312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.551858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:129.02, Y:92.87, Z:0.98 [[ 2.66282847e-01 -9.63893420e-01 -1.70889890e-03 1.29017876e+02] [ 9.63874590e-01 2.66288327e-01 -6.02511101e-03 9.28685818e+01] [ 6.26262469e-03 -4.27805146e-05 9.99980389e-01 9.78649796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.03, Y:92.89, Z:0.98 [[ 2.65516819e-01 -9.64104682e-01 -1.72654126e-03 1.29025451e+02] [ 9.64085889e-01 2.65522424e-01 -6.02010511e-03 9.28932975e+01] [ 6.26244694e-03 -6.60949123e-05 9.99980389e-01 9.78011817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.611858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:129.03, Y:92.92, Z:0.98 [[ 2.63274259e-01 -9.64719537e-01 -1.69700502e-03 1.29032707e+02] [ 9.64700702e-01 2.63279723e-01 -6.02847282e-03 9.29190803e+01] [ 6.26257252e-03 -4.99602268e-05 9.99980389e-01 9.79956193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.641858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:129.04, Y:92.95, Z:0.98 [[ 2.62450256e-01 -9.64944079e-01 -1.66935491e-03 1.29044907e+02] [ 9.64925199e-01 2.62455564e-01 -6.03629760e-03 9.29470221e+01] [ 6.26282112e-03 -2.65747682e-05 9.99980388e-01 9.79669047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.671858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:129.05, Y:92.97, Z:0.98 [[ 2.56794179e-01 -9.66464627e-01 -1.69543880e-03 1.29048861e+02] [ 9.66445826e-01 2.56799760e-01 -6.02891566e-03 9.29730870e+01] [ 6.26212200e-03 -9.03593069e-05 9.99980389e-01 9.78003450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.701858064 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:129.06, Y:93.00, Z:0.98 [[ 2.53071630e-01 -9.67446134e-01 -1.65165660e-03 1.29057421e+02] [ 9.67427274e-01 2.53077010e-01 -6.04129458e-03 9.30008976e+01] [ 6.26262340e-03 -6.89773807e-05 9.99980387e-01 9.78047004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.731858064 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:129.07, Y:93.03, Z:0.98 [[ 2.56252708e-01 -9.66608396e-01 -1.66069744e-03 1.29072446e+02] [ 9.66589535e-01 2.56258083e-01 -6.03874077e-03 9.30313368e+01] [ 6.26266467e-03 -5.77690884e-05 9.99980388e-01 9.81387605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.761858064 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:129.08, Y:93.06, Z:0.98 [[ 2.53684589e-01 -9.67285387e-01 -1.76332239e-03 1.29075154e+02] [ 9.67266735e-01 2.53690653e-01 -6.00969464e-03 9.30552128e+01] [ 6.26042822e-03 -1.81036177e-04 9.99980387e-01 9.79626973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.791858064 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:129.09, Y:93.08, Z:0.98 [[ 2.53337752e-01 -9.67376393e-01 -1.70255795e-03 1.29088950e+02] [ 9.67357626e-01 2.53343444e-01 -6.02686031e-03 9.30846111e+01] [ 6.26157428e-03 -1.20151171e-04 9.99980389e-01 9.81484965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821858064 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:129.09, Y:93.11, Z:0.98 [[ 2.51243928e-01 -9.67922188e-01 -1.76819237e-03 1.29092286e+02] [ 9.67903561e-01 2.51250069e-01 -6.00829912e-03 9.31059094e+01] [ 6.25982449e-03 -2.01891019e-04 9.99980387e-01 9.77019416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.851858064 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:129.11, Y:93.14, Z:0.98 [[ 2.52429494e-01 -9.67613854e-01 -1.66724735e-03 1.29105647e+02] [ 9.67595027e-01 2.52434984e-01 -6.03674429e-03 9.31363530e+01] [ 6.26210897e-03 -8.93679451e-05 9.99980389e-01 9.77967828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881858064 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:129.11, Y:93.17, Z:0.98 [[ 2.51966032e-01 -9.67734510e-01 -1.74277444e-03 1.29114685e+02] [ 9.67715829e-01 2.51972001e-01 -6.01544275e-03 9.31651070e+01] [ 6.26048190e-03 -1.70823175e-04 9.99980388e-01 9.75041952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.911858064 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:129.12, Y:93.19, Z:0.98 [[ 2.49887338e-01 -9.68273297e-01 -1.77249846e-03 1.29116006e+02] [ 9.68254687e-01 2.49893531e-01 -6.00706237e-03 9.31881337e+01] [ 6.25941398e-03 -2.15141118e-04 9.99980387e-01 9.76003711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941858064 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:129.12, Y:93.21, Z:0.98 [[ 2.49867843e-01 -9.68278466e-01 -1.69518230e-03 1.29123354e+02] [ 9.68259706e-01 2.49873557e-01 -6.02880219e-03 9.32149535e+01] [ 6.26114057e-03 -1.34972916e-04 9.99980390e-01 9.76042730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.971858064 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:129.13, Y:93.24, Z:0.97 [[ 2.51717809e-01 -9.67799192e-01 -1.69356728e-03 1.29130601e+02] [ 9.67780419e-01 2.51723477e-01 -6.02925584e-03 9.32391031e+01] [ 6.26141957e-03 -1.21330178e-04 9.99980390e-01 9.72667895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001858064 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:129.14, Y:93.27, Z:0.98 [[ 2.50359169e-01 -9.68151592e-01 -1.66782267e-03 1.29138278e+02] [ 9.68132778e-01 2.50364703e-01 -6.03647766e-03 9.32667632e+01] [ 6.26178938e-03 -1.03386269e-04 9.99980389e-01 9.75999129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.031858064 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:129.15, Y:93.29, Z:0.98 [[ 2.50524146e-01 -9.68108874e-01 -1.69111843e-03 1.29146667e+02] [ 9.68090103e-01 2.50529822e-01 -6.02994428e-03 9.32938100e+01] [ 6.26131817e-03 -1.26508370e-04 9.99980390e-01 9.77110760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061858064 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:129.16, Y:93.32, Z:0.98 [[ 2.51490743e-01 -9.67858229e-01 -1.68946992e-03 1.29155911e+02] [ 9.67839450e-01 2.51496390e-01 -6.03040613e-03 9.33208381e+01] [ 6.26147378e-03 -1.18544323e-04 9.99980390e-01 9.78676775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.091858064 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:129.16, Y:93.35, Z:0.98 [[ 2.51900448e-01 -9.67751681e-01 -1.68776651e-03 1.29164133e+02] [ 9.67732896e-01 2.51906076e-01 -6.03088283e-03 9.33480010e+01] [ 6.26155564e-03 -1.14125091e-04 9.99980390e-01 9.79138212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121858064 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:129.17, Y:93.38, Z:0.98 [[ 2.52116347e-01 -9.67695461e-01 -1.68607253e-03 1.29172003e+02] [ 9.67676671e-01 2.52121961e-01 -6.03135639e-03 9.33752401e+01] [ 6.26161211e-03 -1.10969513e-04 9.99980390e-01 9.80074610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.151858064 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:129.18, Y:93.40, Z:0.98 [[ 2.53035850e-01 -9.67455436e-01 -1.68437386e-03 1.29179766e+02] [ 9.67436638e-01 2.53041435e-01 -6.03183074e-03 9.34014170e+01] [ 6.26174382e-03 -1.03255561e-04 9.99980390e-01 9.80239549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181858064 meters Centerline goodness : 0.997224 Centerline is valid? [True, True] Translation: X:129.19, Y:93.43, Z:0.98 [[ 2.55577537e-01 -9.66787097e-01 -1.68258434e-03 1.29193792e+02] [ 9.66768281e-01 2.55583061e-01 -6.03232988e-03 9.34329073e+01] [ 6.26201875e-03 -8.49411619e-05 9.99980390e-01 9.78535343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21185806399998 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:129.20, Y:93.46, Z:0.98 [[ 2.55691893e-01 -9.66756643e-01 -1.80230975e-03 1.29200080e+02] [ 9.66738054e-01 2.55698160e-01 -5.99887192e-03 9.34566320e+01] [ 6.26029656e-03 -2.08498502e-04 9.99980382e-01 9.79087859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24185806399998 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:129.20, Y:93.48, Z:0.98 [[ 2.53541600e-01 -9.67322875e-01 -1.76406320e-03 1.29202862e+02] [ 9.67304225e-01 2.53547670e-01 -6.00953331e-03 9.34803287e+01] [ 6.26043315e-03 -1.82719103e-04 9.99980387e-01 9.81492598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27185806399999 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:129.21, Y:93.51, Z:0.98 [[ 2.53282461e-01 -9.67390916e-01 -1.67677095e-03 1.29210151e+02] [ 9.67372103e-01 2.53287994e-01 -6.03379157e-03 9.35071469e+01] [ 6.26174110e-03 -9.38078631e-05 9.99980391e-01 9.81170152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.301858064 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:129.22, Y:93.53, Z:0.98 [[ 2.52789820e-01 -9.67519768e-01 -1.67508519e-03 1.29217340e+02] [ 9.67500955e-01 2.52795351e-01 -6.03425952e-03 9.35348118e+01] [ 6.26171912e-03 -9.52471463e-05 9.99980391e-01 9.80983815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.331858064 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:129.22, Y:93.56, Z:0.98 [[ 2.51927788e-01 -9.67744589e-01 -1.67339709e-03 1.29224211e+02] [ 9.67725778e-01 2.51933326e-01 -6.03472763e-03 9.35606924e+01] [ 6.26165950e-03 -9.90739122e-05 9.99980391e-01 9.80252026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.361858064 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:129.23, Y:93.59, Z:0.98 [[ 2.51261221e-01 -9.67917871e-01 -1.67158345e-03 1.29232228e+02] [ 9.67899060e-01 2.51266760e-01 -6.03522995e-03 9.35875350e+01] [ 6.26162028e-03 -1.01504809e-04 9.99980391e-01 9.80602669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.391858064 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:129.24, Y:93.61, Z:0.98 [[ 2.50312743e-01 -9.68163593e-01 -1.66990887e-03 1.29240234e+02] [ 9.68144785e-01 2.50318291e-01 -6.03569326e-03 9.36133652e+01] [ 6.26154721e-03 -1.05902632e-04 9.99980391e-01 9.81382425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.421858064 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:129.25, Y:93.64, Z:0.98 [[ 2.48779493e-01 -9.68558713e-01 -1.66814178e-03 1.29248691e+02] [ 9.68539911e-01 2.48785060e-01 -6.03618161e-03 9.36398732e+01] [ 6.26140504e-03 -1.13983684e-04 9.99980391e-01 9.83046880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.451858064 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:129.26, Y:93.67, Z:0.98 [[ 2.45930338e-01 -9.69286073e-01 -1.66645535e-03 1.29257595e+02] [ 9.69267284e-01 2.45935950e-01 -6.03664716e-03 9.36667371e+01] [ 6.26107930e-03 -1.30645974e-04 9.99980391e-01 9.84024993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.481858064 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:129.27, Y:93.70, Z:0.98 [[ 2.43380652e-01 -9.69929424e-01 -1.66477957e-03 1.29265589e+02] [ 9.69910646e-01 2.43386302e-01 -6.03710927e-03 9.36963050e+01] [ 6.26075446e-03 -1.45371833e-04 9.99980391e-01 9.79221552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.511858064 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:129.27, Y:93.72, Z:0.98 [[ 2.42519678e-01 -9.70144966e-01 -1.71791598e-03 1.29271991e+02] [ 9.70126294e-01 2.42525675e-01 -6.02246139e-03 9.37199728e+01] [ 6.25929933e-03 -2.06030063e-04 9.99980389e-01 9.83021089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.541858064 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:129.28, Y:93.75, Z:0.98 [[ 2.41542156e-01 -9.70388907e-01 -1.66006741e-03 1.29279650e+02] [ 9.70370132e-01 2.41547813e-01 -6.03836513e-03 9.37472457e+01] [ 6.26054819e-03 -1.52360094e-04 9.99980391e-01 9.83110682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.571858064 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:129.29, Y:93.77, Z:0.98 [[ 2.40374396e-01 -9.70678834e-01 -1.65841523e-03 1.29286927e+02] [ 9.70660063e-01 2.40380065e-01 -6.03881886e-03 9.37743484e+01] [ 6.26040362e-03 -1.58180000e-04 9.99980391e-01 9.84396496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601858064 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:129.29, Y:93.80, Z:0.98 [[ 2.37162412e-01 -9.71468602e-01 -1.65682063e-03 1.29289830e+02] [ 9.71449846e-01 2.37168133e-01 -6.03925633e-03 9.37998486e+01] [ 6.25989296e-03 -1.77233547e-04 9.99980391e-01 9.84931314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.631858064 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:129.30, Y:93.83, Z:0.98 [[ 2.39342171e-01 -9.70933959e-01 -1.60361526e-03 1.29300854e+02] [ 9.70915092e-01 2.39347519e-01 -6.05382556e-03 9.38281860e+01] [ 6.26168615e-03 -1.08038504e-04 9.99980390e-01 9.84227466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661858064 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:129.31, Y:93.86, Z:0.98 [[ 2.39077911e-01 -9.70998977e-01 -1.65482848e-03 1.29308359e+02] [ 9.70980206e-01 2.39083583e-01 -6.03979378e-03 9.38557702e+01] [ 6.26027591e-03 -1.62824415e-04 9.99980391e-01 9.84427266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.691858064 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:129.31, Y:93.88, Z:0.98 [[ 2.37534966e-01 -9.71377582e-01 -1.65318450e-03 1.29310929e+02] [ 9.71358817e-01 2.37540657e-01 -6.04024373e-03 9.38818830e+01] [ 6.26005588e-03 -1.71066257e-04 9.99980391e-01 9.84783480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721858064 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:129.32, Y:93.91, Z:0.99 [[ 2.38745630e-01 -9.71080805e-01 -1.61088701e-03 1.29318292e+02] [ 9.71061954e-01 2.38751034e-01 -6.05180282e-03 9.39098606e+01] [ 6.26139049e-03 -1.19429618e-04 9.99980390e-01 9.85299378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.751858064 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:129.33, Y:93.94, Z:0.98 [[ 2.40685381e-01 -9.70601829e-01 -1.62390419e-03 1.29325262e+02] [ 9.70582992e-01 2.40690829e-01 -6.04824667e-03 9.39365603e+01] [ 6.26129813e-03 -1.20409237e-04 9.99980391e-01 9.83761792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781858064 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:129.33, Y:93.96, Z:0.98 [[ 2.42172289e-01 -9.70231918e-01 -1.61502441e-03 1.29331926e+02] [ 9.70213056e-01 2.42177653e-01 -6.05066213e-03 9.39631340e+01] [ 6.26166834e-03 -1.01615067e-04 9.99980390e-01 9.83052949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.811858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:129.34, Y:93.99, Z:0.99 [[ 2.43418312e-01 -9.69920058e-01 -1.61467863e-03 1.29336858e+02] [ 9.69901188e-01 2.43423649e-01 -6.05075609e-03 9.39905314e+01] [ 6.26180066e-03 -9.32138876e-05 9.99980390e-01 9.85654994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841858064 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:129.34, Y:94.01, Z:0.98 [[ 2.44144126e-01 -9.69737568e-01 -1.64181691e-03 1.29339379e+02] [ 9.69718743e-01 2.44149619e-01 -6.04338339e-03 9.40139081e+01] [ 6.26134488e-03 -1.16644072e-04 9.99980391e-01 9.84479939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.871858064 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:129.35, Y:94.04, Z:0.98 [[ 2.48369490e-01 -9.68664094e-01 -1.57162198e-03 1.29346242e+02] [ 9.68645123e-01 2.48374462e-01 -6.06242472e-03 9.40402165e+01] [ 6.26280391e-03 -1.66226301e-05 9.99980388e-01 9.84511661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:129.35, Y:94.07, Z:0.99 [[ 2.49160965e-01 -9.68460798e-01 -1.58019337e-03 1.29354301e+02] [ 9.68441837e-01 2.49165975e-01 -6.06009769e-03 9.40695888e+01] [ 6.26269746e-03 -2.03855841e-05 9.99980389e-01 9.87083944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.931858064 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:129.36, Y:94.10, Z:0.99 [[ 2.49605809e-01 -9.68346162e-01 -1.62789793e-03 1.29360511e+02] [ 9.68327283e-01 2.49611108e-01 -6.04713914e-03 9.40968701e+01] [ 6.26206539e-03 -6.69369264e-05 9.99980391e-01 9.87154362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96185806399998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:129.37, Y:94.13, Z:0.99 [[ 2.56231491e-01 -9.66614068e-01 -1.63269910e-03 1.29374501e+02] [ 9.66595161e-01 2.56236691e-01 -6.04583537e-03 9.41274188e+01] [ 6.26234693e-03 -2.90256361e-05 9.99980391e-01 9.87416813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99185806399998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:129.37, Y:94.15, Z:0.99 [[ 2.48647996e-01 -9.68592379e-01 -1.72529761e-03 1.29370591e+02] [ 9.68573683e-01 2.48653921e-01 -6.02067438e-03 9.41481887e+01] [ 6.26058134e-03 -1.74049245e-04 9.99980387e-01 9.86783219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.39, Y:94.18, Z:0.99 [[ 2.57209286e-01 -9.66354485e-01 -1.54700709e-03 1.29389238e+02] [ 9.66335430e-01 2.57213930e-01 -6.06891975e-03 9.41802120e+01] [ 6.26263959e-03 6.60547496e-05 9.99980387e-01 9.89671136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.051858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:129.40, Y:94.21, Z:0.99 [[ 2.55432600e-01 -9.66825351e-01 -1.71117229e-03 1.29398329e+02] [ 9.66806587e-01 2.55438305e-01 -6.02459468e-03 9.42106669e+01] [ 6.26182982e-03 -1.15494760e-04 9.99980388e-01 9.91119739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.081858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:129.40, Y:94.23, Z:0.99 [[ 2.50354115e-01 -9.68152777e-01 -1.73708511e-03 1.29400968e+02] [ 9.68134091e-01 2.50360080e-01 -6.01760669e-03 9.42349778e+01] [ 6.26085939e-03 -1.75198722e-04 9.99980385e-01 9.90187901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.41, Y:94.27, Z:0.99 [[ 2.51181511e-01 -9.67938573e-01 -1.66348835e-03 1.29411892e+02] [ 9.67919749e-01 2.51187002e-01 -6.03738512e-03 9.42655412e+01] [ 6.26166459e-03 -9.36437085e-05 9.99980391e-01 9.90241684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.141858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.41, Y:94.29, Z:0.99 [[ 2.41743750e-01 -9.70338610e-01 -1.71513894e-03 1.29409860e+02] [ 9.70319936e-01 2.41749744e-01 -6.02350620e-03 9.42888834e+01] [ 6.25947503e-03 -2.08088537e-04 9.99980388e-01 9.88193836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:94.31, Z:0.99 [[ 2.40043916e-01 -9.70760678e-01 -1.62016048e-03 1.29416580e+02] [ 9.70741839e-01 2.40049353e-01 -6.04894543e-03 9.43135662e+01] [ 6.26099684e-03 -1.20745016e-04 9.99980392e-01 9.89195622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.43, Y:94.35, Z:0.99 [[ 2.42526375e-01 -9.70143522e-01 -1.58247141e-03 1.29434173e+02] [ 9.70124603e-01 2.42531529e-01 -6.05902278e-03 9.43492929e+01] [ 6.26192091e-03 -6.57216138e-05 9.99980392e-01 9.94397017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.231858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:129.44, Y:94.38, Z:0.99 [[ 2.42189087e-01 -9.70227498e-01 -1.74595065e-03 1.29441747e+02] [ 9.70208877e-01 2.42195264e-01 -6.01571092e-03 9.43761192e+01] [ 6.25946913e-03 -2.36997288e-04 9.99980381e-01 9.93734767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.261858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:129.45, Y:94.40, Z:0.99 [[ 2.40145031e-01 -9.70735489e-01 -1.72489479e-03 1.29449281e+02] [ 9.70716841e-01 2.40151117e-01 -6.02127985e-03 9.44037647e+01] [ 6.25930544e-03 -2.28403981e-04 9.99980384e-01 9.94041667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.45, Y:94.43, Z:0.99 [[ 2.37102060e-01 -9.71483155e-01 -1.75879062e-03 1.29454323e+02] [ 9.71464591e-01 2.37108414e-01 -6.01230997e-03 9.44323283e+01] [ 6.25788192e-03 -2.83071731e-04 9.99980379e-01 9.92808554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.321858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:129.46, Y:94.46, Z:0.99 [[ 2.36267202e-01 -9.71686559e-01 -1.74367507e-03 1.29461038e+02] [ 9.71667972e-01 2.36273478e-01 -6.01633674e-03 9.44582922e+01] [ 6.25797772e-03 -2.72810170e-04 9.99980381e-01 9.90525034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.351858064 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:129.47, Y:94.48, Z:0.99 [[ 2.36544307e-01 -9.71619150e-01 -1.73746541e-03 1.29466641e+02] [ 9.71600548e-01 2.36550540e-01 -6.01798719e-03 9.44833429e+01] [ 6.25818998e-03 -2.64601734e-04 9.99980382e-01 9.86525630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.47, Y:94.51, Z:0.99 [[ 2.36388357e-01 -9.71657197e-01 -1.68418723e-03 1.29473910e+02] [ 9.71638496e-01 2.36394263e-01 -6.03211505e-03 9.45114302e+01] [ 6.25928020e-03 -2.10499388e-04 9.99980388e-01 9.88586661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.47, Y:94.53, Z:0.99 [[ 2.26476500e-01 -9.74015147e-01 -1.69934906e-03 1.29468923e+02] [ 9.73996536e-01 2.26482690e-01 -6.02814366e-03 9.45345717e+01] [ 6.25637638e-03 -2.89927220e-04 9.99980387e-01 9.85438827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.49, Y:94.57, Z:0.99 [[ 2.35618825e-01 -9.71844263e-01 -1.58070973e-03 1.29492154e+02] [ 9.71825380e-01 2.35624102e-01 -6.05909459e-03 9.45718759e+01] [ 6.26094962e-03 -1.08537092e-04 9.99980394e-01 9.91094178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.50, Y:94.59, Z:0.99 [[ 2.37111706e-01 -9.71480708e-01 -1.80923218e-03 1.29497469e+02] [ 9.71462242e-01 2.37118372e-01 -5.99920016e-03 9.45949844e+01] [ 6.25710940e-03 -3.35120162e-04 9.99980368e-01 9.88524829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.501858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:129.51, Y:94.63, Z:0.99 [[ 2.36568008e-01 -9.71613363e-01 -1.74651239e-03 1.29507801e+02] [ 9.71594779e-01 2.36574297e-01 -6.01567229e-03 9.46274376e+01] [ 6.25808752e-03 -2.73786711e-04 9.99980381e-01 9.87947408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.50, Y:94.64, Z:0.98 [[ 2.26376905e-01 -9.74038016e-01 -1.85464521e-03 1.29497108e+02] [ 9.74019719e-01 2.26384052e-01 -5.98724072e-03 9.46427046e+01] [ 6.25166217e-03 -4.51087984e-04 9.99980356e-01 9.84138335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:94.68, Z:0.99 [[ 2.33026156e-01 -9.72469169e-01 -1.58908771e-03 1.29515390e+02] [ 9.72450318e-01 2.33031536e-01 -6.05653791e-03 9.46779413e+01] [ 6.26010394e-03 -1.33977104e-04 9.99980396e-01 9.88567065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.51, Y:94.69, Z:0.99 [[ 2.27083089e-01 -9.73873795e-01 -1.76156454e-03 1.29509613e+02] [ 9.73855304e-01 2.27089651e-01 -6.01138823e-03 9.46945956e+01] [ 6.25436654e-03 -3.50424361e-04 9.99980380e-01 9.86954883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:94.72, Z:0.99 [[ 2.27606945e-01 -9.73751831e-01 -1.56535771e-03 1.29515888e+02] [ 9.73732969e-01 2.27612282e-01 -6.06246067e-03 9.47202240e+01] [ 6.25962682e-03 -1.44382258e-04 9.99980398e-01 9.88160817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:94.76, Z:1.00 [[ 2.32615765e-01 -9.72567481e-01 -1.54926714e-03 1.29534311e+02] [ 9.72548565e-01 2.32620904e-01 -6.06664966e-03 9.47585643e+01] [ 6.26061810e-03 -9.55391822e-05 9.99980398e-01 9.95124473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:94.77, Z:0.99 [[ 2.24028760e-01 -9.74580883e-01 -1.79385121e-03 1.29526113e+02] [ 9.74562477e-01 2.24035578e-01 -6.00311208e-03 9.47747068e+01] [ 6.25240477e-03 -4.03350328e-04 9.99980372e-01 9.88830029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:94.80, Z:0.99 [[ 2.23323023e-01 -9.74743251e-01 -1.55625912e-03 1.29532383e+02] [ 9.74724400e-01 2.23328386e-01 -6.06435802e-03 9.48021122e+01] [ 6.25874889e-03 -1.62612973e-04 9.99980401e-01 9.88782153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.55, Y:94.84, Z:0.99 [[ 2.28986269e-01 -9.73428401e-01 -1.56119432e-03 1.29548808e+02] [ 9.73409527e-01 2.28991553e-01 -6.06308681e-03 9.48360461e+01] [ 6.25948121e-03 -1.31317799e-04 9.99980401e-01 9.94758827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.55, Y:94.86, Z:0.99 [[ 2.27808894e-01 -9.73704359e-01 -1.71137827e-03 1.29551789e+02] [ 9.73685764e-01 2.27815132e-01 -6.02483700e-03 9.48602631e+01] [ 6.25628792e-03 -2.93833206e-04 9.99980386e-01 9.93284394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:94.89, Z:0.99 [[ 2.27148125e-01 -9.73858814e-01 -1.65534679e-03 1.29555595e+02] [ 9.73840118e-01 2.27154030e-01 -6.03907143e-03 9.48893342e+01] [ 6.25722164e-03 -2.40279359e-04 9.99980395e-01 9.92468173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:94.91, Z:0.99 [[ 2.20416746e-01 -9.75404377e-01 -1.66128331e-03 1.29549579e+02] [ 9.75385734e-01 2.20422816e-01 -6.03756872e-03 9.49111386e+01] [ 6.25525570e-03 -2.89610793e-04 9.99980394e-01 9.88550690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.57, Y:94.95, Z:0.99 [[ 2.28817086e-01 -9.73468233e-01 -1.52989726e-03 1.29566922e+02] [ 9.73449309e-01 2.28822178e-01 -6.07067992e-03 9.49460522e+01] [ 6.25968848e-03 -1.00202147e-04 9.99980403e-01 9.92200123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:94.97, Z:0.99 [[ 2.28035310e-01 -9.73651369e-01 -1.70571331e-03 1.29571076e+02] [ 9.73632762e-01 2.28041510e-01 -6.02622171e-03 9.49721724e+01] [ 6.25641246e-03 -2.86547027e-04 9.99980387e-01 9.90949232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.921858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.58, Y:95.00, Z:0.99 [[ 2.26780835e-01 -9.73944371e-01 -1.67771567e-03 1.29575434e+02] [ 9.73925720e-01 2.26786885e-01 -6.03329832e-03 9.49995545e+01] [ 6.25658085e-03 -2.65734009e-04 9.99980392e-01 9.90567588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:95.02, Z:0.99 [[ 2.21239641e-01 -9.75218058e-01 -1.66141268e-03 1.29571630e+02] [ 9.75199411e-01 2.21245696e-01 -6.03742079e-03 9.50191888e+01] [ 6.25538219e-03 -2.84491861e-04 9.99980394e-01 9.89047386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.981858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.59, Y:95.05, Z:0.99 [[ 2.25500688e-01 -9.74241817e-01 -1.52406483e-03 1.29585493e+02] [ 9.74222901e-01 2.25505808e-01 -6.07198223e-03 9.50502557e+01] [ 6.25926447e-03 -1.15542688e-04 9.99980404e-01 9.92241333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:95.08, Z:0.99 [[ 2.26735702e-01 -9.73954959e-01 -1.63076484e-03 1.29588872e+02] [ 9.73936222e-01 2.26741462e-01 -6.04518744e-03 9.50761503e+01] [ 6.25750229e-03 -2.17601126e-04 9.99980398e-01 9.92895482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:95.10, Z:0.99 [[ 2.22334390e-01 -9.74969167e-01 -1.59429708e-03 1.29587233e+02] [ 9.74950391e-01 2.22340009e-01 -6.05436850e-03 9.50995309e+01] [ 6.25729864e-03 -2.08266235e-04 9.99980401e-01 9.88889916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:95.13, Z:0.99 [[ 2.25347275e-01 -9.74277341e-01 -1.50637878e-03 1.29598739e+02] [ 9.74258396e-01 2.25352289e-01 -6.07643375e-03 9.51324163e+01] [ 6.25959762e-03 -9.82943795e-05 9.99980404e-01 9.90403603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:95.16, Z:0.99 [[ 2.26614681e-01 -9.73983146e-01 -1.61792299e-03 1.29604088e+02] [ 9.73964386e-01 2.26620363e-01 -6.04863106e-03 9.51587007e+01] [ 6.25791901e-03 -2.05090772e-04 9.99980398e-01 9.89410943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:95.19, Z:0.99 [[ 2.25608101e-01 -9.74216816e-01 -1.60601460e-03 1.29605866e+02] [ 9.74198041e-01 2.25613730e-01 -6.05159689e-03 9.51861381e+01] [ 6.25790640e-03 -1.99286994e-04 9.99980399e-01 9.89784870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.161858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:129.61, Y:95.21, Z:0.99 [[ 2.23721051e-01 -9.74651947e-01 -1.57296745e-03 1.29606880e+02] [ 9.74633124e-01 2.23726510e-01 -6.05983033e-03 9.52107200e+01] [ 6.25813994e-03 -1.77354568e-04 9.99980402e-01 9.89499209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:95.24, Z:0.99 [[ 2.25287954e-01 -9.74291042e-01 -1.51727883e-03 1.29612424e+02] [ 9.74272117e-01 2.25293037e-01 -6.07366667e-03 9.52365795e+01] [ 6.25935138e-03 -1.09918521e-04 9.99980404e-01 9.89763268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:95.27, Z:0.99 [[ 2.28665909e-01 -9.73503789e-01 -1.50800856e-03 1.29621940e+02] [ 9.73484831e-01 2.28670868e-01 -6.07596748e-03 9.52682851e+01] [ 6.25981499e-03 -7.86568320e-05 9.99980404e-01 9.89317596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:95.29, Z:0.99 [[ 2.27973104e-01 -9.73666158e-01 -1.57397968e-03 1.29623171e+02] [ 9.73647313e-01 2.27978487e-01 -6.05958403e-03 9.52915126e+01] [ 6.25884540e-03 -1.51078909e-04 9.99980402e-01 9.89464418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.281858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.63, Y:95.32, Z:0.99 [[ 2.29233815e-01 -9.73370224e-01 -1.50519643e-03 1.29628163e+02] [ 9.73351258e-01 2.29238745e-01 -6.07662185e-03 9.53187207e+01] [ 6.25985211e-03 -7.21176320e-05 9.99980404e-01 9.90440734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.311858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:129.63, Y:95.35, Z:0.99 [[ 2.29870397e-01 -9.73220088e-01 -1.50347914e-03 1.29633873e+02] [ 9.73201117e-01 2.29875304e-01 -6.07704671e-03 9.53453331e+01] [ 6.25991666e-03 -6.62544358e-05 9.99980404e-01 9.90789278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:95.37, Z:0.99 [[ 2.28391167e-01 -9.73568292e-01 -1.50222629e-03 1.29639508e+02] [ 9.73549326e-01 2.28396095e-01 -6.07735640e-03 9.53746851e+01] [ 6.25982410e-03 -7.44768706e-05 9.99980404e-01 9.91155500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:95.40, Z:0.99 [[ 2.31100019e-01 -9.72928783e-01 -1.53759673e-03 1.29645428e+02] [ 9.72909861e-01 2.31105116e-01 -6.06862612e-03 9.54022146e+01] [ 6.25968749e-03 -9.34834087e-05 9.99980404e-01 9.92579742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:95.43, Z:0.99 [[ 2.31022973e-01 -9.72947076e-01 -1.54067424e-03 1.29651078e+02] [ 9.72928159e-01 2.31028090e-01 -6.06787023e-03 9.54295116e+01] [ 6.25965562e-03 -9.71479290e-05 9.99980403e-01 9.92487435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:95.46, Z:0.99 [[ 2.33193442e-01 -9.72429144e-01 -1.54253401e-03 1.29660126e+02] [ 9.72410218e-01 2.33198528e-01 -6.06741394e-03 9.54593346e+01] [ 6.25984681e-03 -8.50946946e-05 9.99980403e-01 9.91329263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46185806399998 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:129.66, Y:95.48, Z:0.99 [[ 2.29746707e-01 -9.73249165e-01 -1.58513718e-03 1.29662612e+02] [ 9.73230330e-01 2.29752126e-01 -6.05682456e-03 9.54832960e+01] [ 6.25898809e-03 -1.51168079e-04 9.99980401e-01 9.92005273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.67, Y:95.51, Z:0.99 [[ 2.30156926e-01 -9.73152284e-01 -1.55638739e-03 1.29668685e+02] [ 9.73133398e-01 2.30162157e-01 -6.06396066e-03 9.55072518e+01] [ 6.25937864e-03 -1.18910004e-04 9.99980403e-01 9.93251670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:95.54, Z:1.00 [[ 2.31551750e-01 -9.72821425e-01 -1.50391968e-03 1.29682661e+02] [ 9.72802446e-01 2.31556627e-01 -6.07694536e-03 9.55393788e+01] [ 6.26002521e-03 -5.58894084e-05 9.99980404e-01 9.96542846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:95.57, Z:1.00 [[ 2.31003987e-01 -9.72951439e-01 -1.62983095e-03 1.29689125e+02] [ 9.72932674e-01 2.31009659e-01 -6.04563380e-03 9.55662884e+01] [ 6.25861479e-03 -1.89150277e-04 9.99980397e-01 9.96760702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:95.59, Z:0.99 [[ 2.26271963e-01 -9.74062826e-01 -1.61557783e-03 1.29689633e+02] [ 9.74044064e-01 2.26277638e-01 -6.04918702e-03 9.55903428e+01] [ 6.25785733e-03 -2.04882572e-04 9.99980398e-01 9.94108743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:95.62, Z:0.99 [[ 2.26597837e-01 -9.73987177e-01 -1.54895847e-03 1.29700375e+02] [ 9.73968298e-01 2.26603091e-01 -6.06572748e-03 9.56201141e+01] [ 6.25893957e-03 -1.34155722e-04 9.99980404e-01 9.93025193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:95.65, Z:0.99 [[ 2.23143015e-01 -9.74784389e-01 -1.60902730e-03 1.29705996e+02] [ 9.74765633e-01 2.23148710e-01 -6.05093994e-03 9.56479569e+01] [ 6.25741416e-03 -2.18199533e-04 9.99980398e-01 9.91479076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:95.67, Z:0.99 [[ 2.17699354e-01 -9.76014516e-01 -1.62961521e-03 1.29704573e+02] [ 9.75995829e-01 2.17705280e-01 -6.04585777e-03 9.56700416e+01] [ 6.25562078e-03 -2.74318323e-04 9.99980396e-01 9.92515200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:95.70, Z:0.99 [[ 2.16101267e-01 -9.76369738e-01 -1.54165084e-03 1.29710633e+02] [ 9.76350904e-01 2.16106679e-01 -6.06753392e-03 9.56973789e+01] [ 6.25731755e-03 -1.93990421e-04 9.99980404e-01 9.91810147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:95.73, Z:0.99 [[ 2.18101721e-01 -9.75924830e-01 -1.53770953e-03 1.29720534e+02] [ 9.75905979e-01 2.18107070e-01 -6.06850073e-03 9.57271983e+01] [ 6.25778587e-03 -1.77109468e-04 9.99980404e-01 9.93261602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.761858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.72, Y:95.75, Z:0.99 [[ 2.14245513e-01 -9.76778574e-01 -1.57424349e-03 1.29721114e+02] [ 9.76759807e-01 2.14251163e-01 -6.05959460e-03 9.57525956e+01] [ 6.25616567e-03 -2.39416811e-04 9.99980401e-01 9.93914090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.791858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:129.73, Y:95.78, Z:0.99 [[ 2.15138587e-01 -9.76582354e-01 -1.51462661e-03 1.29727964e+02] [ 9.76563479e-01 2.15143850e-01 -6.07409272e-03 9.57815962e+01] [ 6.25771437e-03 -1.72357309e-04 9.99980405e-01 9.92221907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.73, Y:95.81, Z:0.99 [[ 2.15442546e-01 -9.76515291e-01 -1.54801304e-03 1.29731183e+02] [ 9.76496472e-01 2.15448010e-01 -6.06597136e-03 9.58093908e+01] [ 6.25703012e-03 -2.04760954e-04 9.99980404e-01 9.88963395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:95.84, Z:0.99 [[ 2.14400798e-01 -9.76744537e-01 -1.55161782e-03 1.29735559e+02] [ 9.76725730e-01 2.14406304e-01 -6.06509694e-03 9.58377591e+01] [ 6.25672694e-03 -2.15143422e-04 9.99980403e-01 9.91258095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:95.86, Z:0.99 [[ 2.11787882e-01 -9.77314439e-01 -1.54266114e-03 1.29737578e+02] [ 9.77295631e-01 2.11793383e-01 -6.06726551e-03 9.58643810e+01] [ 6.25635161e-03 -2.22662684e-04 9.99980404e-01 9.92493954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:95.89, Z:0.99 [[ 2.11819548e-01 -9.77307641e-01 -1.50112715e-03 1.29741323e+02] [ 9.77288762e-01 2.11824791e-01 -6.07729655e-03 9.58934776e+01] [ 6.25736430e-03 -1.79744491e-04 9.99980406e-01 9.91407913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:95.92, Z:0.99 [[ 2.11284688e-01 -9.77423361e-01 -1.53441129e-03 1.29743718e+02] [ 9.77404541e-01 2.11290148e-01 -6.06924805e-03 9.59193031e+01] [ 6.25643081e-03 -2.17401383e-04 9.99980405e-01 9.92720480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:95.95, Z:0.99 [[ 2.11054020e-01 -9.77473258e-01 -1.49330640e-03 1.29748306e+02] [ 9.77454370e-01 2.11059229e-01 -6.07916530e-03 9.59474706e+01] [ 6.25739761e-03 -1.76606587e-04 9.99980407e-01 9.90972859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001858064 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:129.75, Y:95.97, Z:0.99 [[ 2.11395413e-01 -9.77399462e-01 -1.50716810e-03 1.29750082e+02] [ 9.77380595e-01 2.11400702e-01 -6.07580319e-03 9.59735755e+01] [ 6.25710317e-03 -1.88679931e-04 9.99980406e-01 9.90088337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:96.00, Z:0.99 [[ 2.11953234e-01 -9.77278649e-01 -1.50596540e-03 1.29754955e+02] [ 9.77259778e-01 2.11958504e-01 -6.07609438e-03 9.59999800e+01] [ 6.25723949e-03 -1.83871556e-04 9.99980406e-01 9.91682779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.76, Y:96.03, Z:0.99 [[ 2.11473254e-01 -9.77382628e-01 -1.50405697e-03 1.29757392e+02] [ 9.77363755e-01 2.11478522e-01 -6.07655217e-03 9.60273303e+01] [ 6.25719227e-03 -1.84982504e-04 9.99980406e-01 9.94136963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.091858064 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:129.76, Y:96.06, Z:0.99 [[ 2.11899202e-01 -9.77290406e-01 -1.48005359e-03 1.29759555e+02] [ 9.77271491e-01 2.11904312e-01 -6.08231660e-03 9.60550172e+01] [ 6.25781940e-03 -1.57576150e-04 9.99980407e-01 9.93351190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.121858064 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:129.76, Y:96.08, Z:0.99 [[ 2.13198878e-01 -9.77007683e-01 -1.49170216e-03 1.29763583e+02] [ 9.76988781e-01 2.13204036e-01 -6.07952530e-03 9.60799462e+01] [ 6.25777985e-03 -1.61228296e-04 9.99980407e-01 9.93698623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.77, Y:96.11, Z:0.99 [[ 2.15364961e-01 -9.76532548e-01 -1.45482281e-03 1.29770872e+02] [ 9.76513575e-01 2.15369847e-01 -6.08833772e-03 9.61120855e+01] [ 6.25878491e-03 -1.09439611e-04 9.99980408e-01 9.94008120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.77, Y:96.14, Z:0.99 [[ 2.15259066e-01 -9.76555773e-01 -1.53548899e-03 1.29774112e+02] [ 9.76536931e-01 2.15264456e-01 -6.06937296e-03 9.61376744e+01] [ 6.25761740e-03 -1.92974148e-04 9.99980402e-01 9.92055818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.77, Y:96.16, Z:0.99 [[ 2.12419792e-01 -9.77177336e-01 -1.51210000e-03 1.29773085e+02] [ 9.77158470e-01 2.12425092e-01 -6.07487744e-03 9.61598564e+01] [ 6.25744053e-03 -1.87137115e-04 9.99980405e-01 9.94430231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:96.19, Z:1.00 [[ 2.14604342e-01 -9.76700021e-01 -1.43010315e-03 1.29777210e+02] [ 9.76681013e-01 2.14609088e-01 -6.09411961e-03 9.61875070e+01] [ 6.25903988e-03 -8.89300685e-05 9.99980408e-01 9.95097163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:96.22, Z:1.00 [[ 2.21704630e-01 -9.75112823e-01 -1.42846282e-03 1.29791145e+02] [ 9.75093778e-01 2.21709228e-01 -6.09450408e-03 9.62211144e+01] [ 6.25953246e-03 -4.17054341e-05 9.99980408e-01 9.95867108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:96.24, Z:1.00 [[ 2.16565512e-01 -9.76266858e-01 -1.54948257e-03 1.29786865e+02] [ 9.76248032e-01 2.16570964e-01 -6.06609032e-03 9.62423141e+01] [ 6.25769587e-03 -1.98973356e-04 9.99980401e-01 9.95240015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:96.28, Z:1.00 [[ 2.24726373e-01 -9.74420867e-01 -1.42515420e-03 1.29799691e+02] [ 9.74401804e-01 2.24730891e-01 -6.09516050e-03 9.62761300e+01] [ 6.25952775e-03 -1.89295184e-05 9.99980409e-01 9.95466956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:96.29, Z:0.99 [[ 2.17282630e-01 -9.76107495e-01 -1.55448495e-03 1.29791432e+02] [ 9.76088674e-01 2.17288099e-01 -6.06486574e-03 9.62937457e+01] [ 6.25773198e-03 -1.99525176e-04 9.99980400e-01 9.92565224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:96.32, Z:0.99 [[ 2.21823316e-01 -9.75085916e-01 -1.36859888e-03 1.29800117e+02] [ 9.75066785e-01 2.21827537e-01 -6.10815694e-03 9.63231643e+01] [ 6.25957072e-03 2.04563185e-05 9.99980408e-01 9.94407655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:96.35, Z:0.99 [[ 2.22682499e-01 -9.74889987e-01 -1.42046005e-03 1.29805939e+02] [ 9.74870928e-01 2.22687028e-01 -6.09607266e-03 9.63492477e+01] [ 6.25931822e-03 -2.72765133e-05 9.99980410e-01 9.94634924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:96.38, Z:1.00 [[ 2.23390797e-01 -9.74727931e-01 -1.41875294e-03 1.29811577e+02] [ 9.74708865e-01 2.23395302e-01 -6.09646993e-03 9.63762663e+01] [ 6.25934226e-03 -2.09757935e-05 9.99980410e-01 9.95083191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:96.40, Z:0.99 [[ 2.23879664e-01 -9.74615764e-01 -1.41706505e-03 1.29816908e+02] [ 9.74596694e-01 2.23884148e-01 -6.09686224e-03 9.64033063e+01] [ 6.25935645e-03 -1.61034395e-05 9.99980410e-01 9.94182795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:96.43, Z:1.00 [[ 2.25817989e-01 -9.74168483e-01 -1.41528475e-03 1.29822082e+02] [ 9.74149401e-01 2.25822424e-01 -6.09727548e-03 9.64313352e+01] [ 6.25937664e-03 -1.82430439e-06 9.99980410e-01 9.95145086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.83, Y:96.46, Z:1.00 [[ 2.26517783e-01 -9.74006004e-01 -1.41361509e-03 1.29827817e+02] [ 9.73986917e-01 2.26522194e-01 -6.09766255e-03 9.64583434e+01] [ 6.25937513e-03 4.38639589e-06 9.99980410e-01 9.95455977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:96.49, Z:1.00 [[ 2.33742985e-01 -9.72297394e-01 -1.41195499e-03 1.29845773e+02] [ 9.72278273e-01 2.33747244e-01 -6.09804694e-03 9.64934628e+01] [ 6.25915574e-03 5.25625313e-05 9.99980410e-01 9.95012726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:96.51, Z:1.00 [[ 2.28363990e-01 -9.73574515e-01 -1.59733396e-03 1.29840127e+02] [ 9.73555701e-01 2.28369511e-01 -6.05496441e-03 9.65119341e+01] [ 6.25974141e-03 -1.72357750e-04 9.99980393e-01 9.96108899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:96.54, Z:1.00 [[ 2.31061494e-01 -9.72938130e-01 -1.40786928e-03 1.29846336e+02] [ 9.72919016e-01 2.31065779e-01 -6.09870195e-03 9.65378331e+01] [ 6.25897008e-03 3.94323867e-05 9.99980412e-01 9.95957881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:96.56, Z:1.00 [[ 2.32526852e-01 -9.72588960e-01 -1.40612954e-03 1.29852776e+02] [ 9.72569838e-01 2.32531098e-01 -6.09910304e-03 9.65647857e+01] [ 6.25888913e-03 5.06460553e-05 9.99980412e-01 9.95885269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:96.59, Z:1.00 [[ 2.34675456e-01 -9.72072764e-01 -1.40451633e-03 1.29859664e+02] [ 9.72053629e-01 2.34679650e-01 -6.09947451e-03 9.65908980e+01] [ 6.25874445e-03 6.61317637e-05 9.99980412e-01 9.95816675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.87, Y:96.62, Z:1.00 [[ 2.35220049e-01 -9.71941130e-01 -1.40281470e-03 1.29866663e+02] [ 9.71921991e-01 2.35224221e-01 -6.09986584e-03 9.66182996e+01] [ 6.25868650e-03 7.13842812e-05 9.99980412e-01 9.96080193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.751858064 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:129.87, Y:96.65, Z:1.00 [[ 2.31669483e-01 -9.72793548e-01 -1.40121307e-03 1.29872639e+02] [ 9.72774422e-01 2.31673715e-01 -6.10023374e-03 9.66493635e+01] [ 6.25889226e-03 5.01737678e-05 9.99980412e-01 9.95475667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781858064 meters Centerline goodness : 0.997083 Centerline is valid? [True, True] Translation: X:129.88, Y:96.67, Z:1.00 [[ 2.34024714e-01 -9.72229543e-01 -1.46608480e-03 1.29881524e+02] [ 9.72210498e-01 2.34029306e-01 -6.08542249e-03 9.66713681e+01] [ 6.25953433e-03 -1.20377290e-06 9.99980409e-01 9.96745695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:96.70, Z:1.00 [[ 2.31863956e-01 -9.72747252e-01 -1.37436253e-03 1.29888684e+02] [ 9.72728090e-01 2.31868016e-01 -6.10628623e-03 9.66986496e+01] [ 6.25854387e-03 7.89466455e-05 9.99980412e-01 9.96938494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.90, Y:96.72, Z:0.99 [[ 2.30172310e-01 -9.73148884e-01 -1.39939572e-03 1.29897306e+02] [ 9.73129762e-01 2.30176560e-01 -6.10060525e-03 9.67242566e+01] [ 6.25890528e-03 4.23967808e-05 9.99980412e-01 9.94468340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:96.75, Z:1.00 [[ 2.30870701e-01 -9.72983475e-01 -1.37006895e-03 1.29906317e+02] [ 9.72964311e-01 2.30874754e-01 -6.10725588e-03 9.67514313e+01] [ 6.25857338e-03 7.69582526e-05 9.99980412e-01 9.96552553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:96.78, Z:1.00 [[ 2.28881023e-01 -9.73453421e-01 -1.38383188e-03 1.29914785e+02] [ 9.73434284e-01 2.28885201e-01 -6.10413578e-03 9.67768175e+01] [ 6.25883049e-03 5.00514508e-05 9.99980412e-01 9.95753866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:96.80, Z:1.00 [[ 2.28869310e-01 -9.73456177e-01 -1.38204241e-03 1.29922395e+02] [ 9.73437038e-01 2.28873477e-01 -6.10454090e-03 9.68024785e+01] [ 6.25881590e-03 5.18107924e-05 9.99980412e-01 9.96047425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:96.83, Z:1.00 [[ 2.25616617e-01 -9.74215220e-01 -1.35888851e-03 1.29932830e+02] [ 9.74196063e-01 2.25620702e-01 -6.10977740e-03 9.68310745e+01] [ 6.25883151e-03 5.46434673e-05 9.99980412e-01 9.96741574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.94, Y:96.86, Z:1.00 [[ 2.23411446e-01 -9.74723254e-01 -1.37961132e-03 1.29941359e+02] [ 9.74704135e-01 2.23415704e-01 -6.10509452e-03 9.68568673e+01] [ 6.25900443e-03 1.92351286e-05 9.99980412e-01 9.96606154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:96.88, Z:1.00 [[ 2.20972441e-01 -9.75279079e-01 -1.37803829e-03 1.29950000e+02] [ 9.75259968e-01 2.20976738e-01 -6.10544956e-03 9.68829993e+01] [ 6.25903163e-03 5.19051621e-06 9.99980412e-01 9.96298930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.96, Y:96.91, Z:1.00 [[ 2.19618164e-01 -9.75584936e-01 -1.37622938e-03 1.29958359e+02] [ 9.75565829e-01 2.19622476e-01 -6.10585728e-03 9.69103425e+01] [ 6.25903329e-03 -1.64518418e-06 9.99980412e-01 9.96355390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:96.94, Z:1.00 [[ 2.17746622e-01 -9.76004364e-01 -1.37452948e-03 1.29966279e+02] [ 9.75985263e-01 2.17750960e-01 -6.10623993e-03 9.69369071e+01] [ 6.25902194e-03 -1.19073976e-05 9.99980412e-01 9.96407659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:96.96, Z:1.00 [[ 2.17476837e-01 -9.76064517e-01 -1.37284152e-03 1.29972471e+02] [ 9.76045414e-01 2.17481170e-01 -6.10661940e-03 9.69647970e+01] [ 6.25902170e-03 -1.19073971e-05 9.99980412e-01 9.96585936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:96.99, Z:1.00 [[ 2.15670875e-01 -9.76465152e-01 -1.37115346e-03 1.29980882e+02] [ 9.76446055e-01 2.15675233e-01 -6.10699841e-03 9.69916654e+01] [ 6.25899497e-03 -2.17556940e-05 9.99980412e-01 9.96541225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.99, Y:97.02, Z:1.00 [[ 2.14513757e-01 -9.76719995e-01 -1.37831155e-03 1.29989097e+02] [ 9.76700913e-01 2.14518182e-01 -6.10539297e-03 9.70188203e+01] [ 6.25893228e-03 -3.65073622e-05 9.99980412e-01 9.97262761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.00, Y:97.05, Z:1.00 [[ 2.18299195e-01 -9.75880931e-01 -1.36769998e-03 1.30004999e+02] [ 9.75861817e-01 2.18303479e-01 -6.10776920e-03 9.70516380e+01] [ 6.25902915e-03 -1.36509067e-06 9.99980412e-01 9.98864461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:97.07, Z:1.00 [[ 2.14221089e-01 -9.76784076e-01 -1.48124009e-03 1.30006934e+02] [ 9.76765150e-01 2.14226162e-01 -6.08226318e-03 9.70730187e+01] [ 6.25837820e-03 -1.43874652e-04 9.99980406e-01 9.98449381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.01, Y:97.10, Z:1.00 [[ 2.14852207e-01 -9.76645610e-01 -1.37148227e-03 1.30014023e+02] [ 9.76626518e-01 2.14856582e-01 -6.10682187e-03 9.70997597e+01] [ 6.25887276e-03 -2.73617973e-05 9.99980413e-01 9.96970338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.02, Y:97.13, Z:1.00 [[ 2.14871325e-01 -9.76641405e-01 -1.37071898e-03 1.30020900e+02] [ 9.76622312e-01 2.14875695e-01 -6.10699242e-03 9.71264069e+01] [ 6.25887585e-03 -2.64571819e-05 9.99980413e-01 9.96266819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:97.16, Z:1.00 [[ 2.20359280e-01 -9.75417823e-01 -1.36331900e-03 1.30037376e+02] [ 9.75398695e-01 2.20363497e-01 -6.10864393e-03 9.71593360e+01] [ 6.25890591e-03 1.63168017e-05 9.99980413e-01 9.96536934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.351858064 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:130.04, Y:97.18, Z:1.00 [[ 2.19066820e-01 -9.75708720e-01 -1.49080911e-03 1.30043775e+02] [ 9.75689787e-01 2.19071859e-01 -6.07955932e-03 9.71786101e+01] [ 6.25847336e-03 -1.22737491e-04 9.99980408e-01 9.96005906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:97.21, Z:1.00 [[ 2.18311961e-01 -9.75878088e-01 -1.35862532e-03 1.30051601e+02] [ 9.75858963e-01 2.18316188e-01 -6.10950943e-03 9.72052190e+01] [ 6.25874628e-03 7.95228969e-06 9.99980414e-01 9.96209852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:97.24, Z:1.00 [[ 2.19847606e-01 -9.75533260e-01 -1.37444463e-03 1.30065914e+02] [ 9.75514151e-01 2.19851902e-01 -6.10592750e-03 9.72371420e+01] [ 6.25870962e-03 1.58335336e-06 9.99980414e-01 9.98526876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:97.26, Z:1.00 [[ 2.19625967e-01 -9.75583024e-01 -1.48276234e-03 1.30072650e+02] [ 9.75564074e-01 2.19630945e-01 -6.08162957e-03 9.72639012e+01] [ 6.25879506e-03 -1.10845894e-04 9.99980407e-01 1.00004567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:97.29, Z:1.00 [[ 2.19000285e-01 -9.75723610e-01 -1.52048736e-03 1.30078494e+02] [ 9.75704722e-01 2.19005509e-01 -6.07309970e-03 9.72909800e+01] [ 6.25866187e-03 -1.53536134e-04 9.99980403e-01 1.00023230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.08, Y:97.32, Z:1.00 [[ 2.17460609e-01 -9.76067922e-01 -1.51497603e-03 1.30084040e+02] [ 9.76049034e-01 2.17465828e-01 -6.07434170e-03 9.73179583e+01] [ 6.25842560e-03 -1.57760850e-04 9.99980403e-01 9.99679761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:97.34, Z:1.00 [[ 2.14989714e-01 -9.76615165e-01 -1.49718493e-03 1.30085047e+02] [ 9.76596262e-01 2.14994871e-01 -6.07834197e-03 9.73375453e+01] [ 6.25808802e-03 -1.55364200e-04 9.99980406e-01 9.99315642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.10, Y:97.37, Z:1.00 [[ 2.18668589e-01 -9.75798227e-01 -1.36682051e-03 1.30100130e+02] [ 9.75779113e-01 2.18672861e-01 -6.10751669e-03 9.73698163e+01] [ 6.25859051e-03 1.80715341e-06 9.99980415e-01 9.99754400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:97.40, Z:1.00 [[ 2.18819566e-01 -9.75764265e-01 -1.44814077e-03 1.30109802e+02] [ 9.75745267e-01 2.18824343e-01 -6.08945516e-03 9.73991045e+01] [ 6.25876119e-03 -8.05245684e-05 9.99980411e-01 1.00305243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.11, Y:97.42, Z:1.00 [[ 2.18155227e-01 -9.75912989e-01 -1.46114354e-03 1.30114951e+02] [ 9.75894013e-01 2.18160098e-01 -6.08656976e-03 9.74245592e+01] [ 6.25872571e-03 -9.81042297e-05 9.99980409e-01 1.00230267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:97.45, Z:1.00 [[ 2.18737827e-01 -9.75782610e-01 -1.43533841e-03 1.30119724e+02] [ 9.75763594e-01 2.18742526e-01 -6.09230010e-03 9.74483880e+01] [ 6.25873004e-03 -6.79344825e-05 9.99980412e-01 1.00162521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.13, Y:97.48, Z:1.00 [[ 2.18142797e-01 -9.75915893e-01 -1.37474390e-03 1.30127652e+02] [ 9.75896793e-01 2.18147129e-01 -6.10570797e-03 9.74780210e+01] [ 6.25855388e-03 -9.69194642e-06 9.99980415e-01 1.00141808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71185806399998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:130.14, Y:97.51, Z:1.00 [[ 2.17730854e-01 -9.76007819e-01 -1.41874689e-03 1.30135889e+02] [ 9.75988783e-01 2.17735469e-01 -6.09597747e-03 9.75052427e+01] [ 6.25863319e-03 -5.73986657e-05 9.99980413e-01 1.00019468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.14, Y:97.53, Z:1.00 [[ 2.18714375e-01 -9.75787914e-01 -1.40308921e-03 1.30142218e+02] [ 9.75768852e-01 2.18718873e-01 -6.09943336e-03 9.75279643e+01] [ 6.25863544e-03 -3.50569939e-05 9.99980414e-01 1.00045838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:97.56, Z:1.00 [[ 2.16550137e-01 -9.76270569e-01 -1.34662375e-03 1.30150528e+02] [ 9.76251438e-01 2.16554324e-01 -6.11186340e-03 9.75574118e+01] [ 6.25844956e-03 8.88148459e-06 9.99980416e-01 1.00127511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.801858064 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:130.16, Y:97.58, Z:1.00 [[ 2.15904868e-01 -9.76413421e-01 -1.38509802e-03 1.30157650e+02] [ 9.76394346e-01 2.15909308e-01 -6.10339555e-03 9.75813071e+01] [ 6.25849288e-03 -3.46490665e-05 9.99980415e-01 1.00174838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.831858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:130.17, Y:97.61, Z:1.00 [[ 2.15737531e-01 -9.76450461e-01 -1.34741123e-03 1.30165243e+02] [ 9.76431334e-01 2.15741738e-01 -6.11167496e-03 9.76097698e+01] [ 6.25844068e-03 2.86311725e-06 9.99980416e-01 1.00191396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.861858064 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:130.17, Y:97.64, Z:1.00 [[ 2.14771675e-01 -9.76663354e-01 -1.34922324e-03 1.30174429e+02] [ 9.76644234e-01 2.14775913e-01 -6.11127725e-03 9.76398603e+01] [ 6.25844119e-03 -5.18185231e-06 9.99980416e-01 1.00129242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.891858064 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:130.19, Y:97.67, Z:1.00 [[ 2.15039031e-01 -9.76604466e-01 -1.39024770e-03 1.30187914e+02] [ 9.76585402e-01 2.15043521e-01 -6.10226212e-03 9.76688624e+01] [ 6.25846020e-03 -4.54710687e-05 9.99980415e-01 1.00175589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.921858064 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:130.19, Y:97.69, Z:1.00 [[ 2.12365918e-01 -9.77189146e-01 -1.44577992e-03 1.30192971e+02] [ 9.77170176e-01 2.12370805e-01 -6.09005416e-03 9.76934745e+01] [ 6.25817627e-03 -1.19453075e-04 9.99980410e-01 1.00277076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.951858064 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:130.20, Y:97.72, Z:1.00 [[ 2.13562712e-01 -9.76928352e-01 -1.40147506e-03 1.30203196e+02] [ 9.76909310e-01 2.13567300e-01 -6.09982312e-03 9.77210724e+01] [ 6.25839939e-03 -6.64192710e-05 9.99980414e-01 1.00011520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.981858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:130.21, Y:97.74, Z:1.00 [[ 2.09394299e-01 -9.77830222e-01 -1.44348122e-03 1.30205269e+02] [ 9.77811264e-01 2.09399230e-01 -6.09055887e-03 9.77425517e+01] [ 6.25779639e-03 -1.36123893e-04 9.99980411e-01 1.00257920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.011858064 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:130.22, Y:97.77, Z:1.00 [[ 2.11698527e-01 -9.77334095e-01 -1.34207538e-03 1.30217079e+02] [ 9.77314978e-01 2.11702780e-01 -6.11282264e-03 9.77735235e+01] [ 6.25839107e-03 -1.75548231e-05 9.99980416e-01 1.00204187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.041858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:130.22, Y:97.80, Z:1.00 [[ 2.09789019e-01 -9.77745635e-01 -1.42880525e-03 1.30222150e+02] [ 9.77726652e-01 2.09793851e-01 -6.09375447e-03 9.77992521e+01] [ 6.25789639e-03 -1.18578204e-04 9.99980412e-01 1.00256933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.071858064 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:130.23, Y:97.82, Z:1.00 [[ 2.05958954e-01 -9.78559631e-01 -1.39908617e-03 1.30225753e+02] [ 9.78540623e-01 2.05963675e-01 -6.10026485e-03 9.78226223e+01] [ 6.25763385e-03 -1.12658489e-04 9.99980414e-01 1.00294430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101858064 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:130.24, Y:97.85, Z:1.00 [[ 2.08904238e-01 -9.77935189e-01 -1.33614712e-03 1.30239633e+02] [ 9.77916077e-01 2.08908508e-01 -6.11401945e-03 9.78546696e+01] [ 6.25824727e-03 -2.93951814e-05 9.99980417e-01 1.00122234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.131858064 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:130.24, Y:97.88, Z:1.00 [[ 2.04805400e-01 -9.78801642e-01 -1.44670042e-03 1.30240371e+02] [ 9.78782712e-01 2.04810440e-01 -6.08980249e-03 9.78765315e+01] [ 6.25700803e-03 -1.68780922e-04 9.99980410e-01 1.00351204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.25, Y:97.90, Z:1.00 [[ 2.04375674e-01 -9.78891621e-01 -1.33370088e-03 1.30247091e+02] [ 9.78872526e-01 2.04380018e-01 -6.11445031e-03 9.79038556e+01] [ 6.25796598e-03 -5.58782459e-05 9.99980417e-01 1.00317517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.191858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:130.25, Y:97.93, Z:1.00 [[ 2.04747348e-01 -9.78813950e-01 -1.33202052e-03 1.30253772e+02] [ 9.78794851e-01 2.04751674e-01 -6.11481635e-03 9.79298084e+01] [ 6.25800098e-03 -5.17824028e-05 9.99980417e-01 1.00263410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221858064 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:130.26, Y:97.96, Z:1.00 [[ 2.04435638e-01 -9.78879104e-01 -1.33024795e-03 1.30260156e+02] [ 9.78860004e-01 2.04439959e-01 -6.11520194e-03 9.79581253e+01] [ 6.25799923e-03 -5.19613051e-05 9.99980417e-01 1.00178766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.251858064 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:130.27, Y:97.98, Z:1.00 [[ 2.05105361e-01 -9.78738975e-01 -1.34553281e-03 1.30266016e+02] [ 9.78719893e-01 2.05109765e-01 -6.11187873e-03 9.79835717e+01] [ 6.25791584e-03 -6.33206344e-05 9.99980417e-01 1.00047712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281858064 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:130.27, Y:98.01, Z:1.00 [[ 2.05361721e-01 -9.78685238e-01 -1.32992000e-03 1.30272508e+02] [ 9.78666133e-01 2.05366022e-01 -6.11526834e-03 9.80102616e+01] [ 6.25804323e-03 -4.57056331e-05 9.99980417e-01 9.99859261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.311858064 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:130.28, Y:98.04, Z:1.00 [[ 2.05067118e-01 -9.78747026e-01 -1.31753531e-03 1.30279439e+02] [ 9.78727906e-01 2.05071348e-01 -6.11795489e-03 9.80379590e+01] [ 6.25811890e-03 -3.49171926e-05 9.99980417e-01 1.00243697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341858064 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:130.29, Y:98.06, Z:1.00 [[ 2.04895812e-01 -9.78782897e-01 -1.32132955e-03 1.30287161e+02] [ 9.78763783e-01 2.04900069e-01 -6.11713238e-03 9.80646645e+01] [ 6.25808507e-03 -3.98946993e-05 9.99980417e-01 1.00334530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.371858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:130.29, Y:98.09, Z:1.00 [[ 2.05276263e-01 -9.78703173e-01 -1.32487818e-03 1.30293147e+02] [ 9.78684062e-01 2.05280534e-01 -6.11636371e-03 9.80897367e+01] [ 6.25807627e-03 -4.10928730e-05 9.99980417e-01 1.00334528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401858064 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:130.31, Y:98.12, Z:1.00 [[ 2.08663724e-01 -9.77986554e-01 -1.32297342e-03 1.30305340e+02] [ 9.77967426e-01 2.08667917e-01 -6.11677568e-03 9.81210659e+01] [ 6.25818648e-03 -1.74757178e-05 9.99980417e-01 1.00249471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.431858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:130.30, Y:98.14, Z:1.00 [[ 2.07299462e-01 -9.78276521e-01 -1.40803242e-03 1.30304506e+02] [ 9.78257519e-01 2.07304213e-01 -6.09835729e-03 9.81442540e+01] [ 6.25777080e-03 -1.13232115e-04 9.99980414e-01 1.00329811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:130.31, Y:98.17, Z:1.00 [[ 2.07075623e-01 -9.78324049e-01 -1.31963819e-03 1.30310960e+02] [ 9.78304923e-01 2.07079827e-01 -6.11742553e-03 9.81735439e+01] [ 6.25809497e-03 -2.42388331e-05 9.99980418e-01 1.00345413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49185806399998 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:130.32, Y:98.20, Z:1.00 [[ 2.08649156e-01 -9.77989637e-01 -1.34154648e-03 1.30316470e+02] [ 9.77970534e-01 2.08653466e-01 -6.11270069e-03 9.82003017e+01] [ 6.25807625e-03 -3.65830869e-05 9.99980417e-01 1.00457614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52185806399999 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:130.32, Y:98.23, Z:1.00 [[ 2.08408466e-01 -9.78040989e-01 -1.31715481e-03 1.30322045e+02] [ 9.78021854e-01 2.08412628e-01 -6.11795206e-03 9.82280279e+01] [ 6.25811958e-03 -1.31731870e-05 9.99980418e-01 1.00492311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.551858064 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:130.33, Y:98.26, Z:1.01 [[ 2.08187557e-01 -9.78088038e-01 -1.31547610e-03 1.30328027e+02] [ 9.78068902e-01 2.08191712e-01 -6.11831299e-03 9.82557832e+01] [ 6.25811997e-03 -1.28696356e-05 9.99980418e-01 1.00545335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.581858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:130.33, Y:98.28, Z:1.01 [[ 2.07367253e-01 -9.78262284e-01 -1.31378522e-03 1.30333312e+02] [ 9.78243149e-01 2.07371414e-01 -6.11867605e-03 9.82828695e+01] [ 6.25811151e-03 -1.63883455e-05 9.99980418e-01 1.00629390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.611858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:130.34, Y:98.31, Z:1.01 [[ 2.06567091e-01 -9.78431559e-01 -1.31208074e-03 1.30338422e+02] [ 9.78412425e-01 2.06571257e-01 -6.11904154e-03 9.83095562e+01] [ 6.25810152e-03 -1.97634905e-05 9.99980418e-01 1.00575302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.641858064 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:130.34, Y:98.34, Z:1.01 [[ 2.05855248e-01 -9.78581576e-01 -1.31028070e-03 1.30343503e+02] [ 9.78562442e-01 2.05859417e-01 -6.11942696e-03 9.83370973e+01] [ 6.25809210e-03 -2.24753296e-05 9.99980418e-01 1.00610656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.671858064 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:130.35, Y:98.36, Z:1.01 [[ 2.03954743e-01 -9.78979443e-01 -1.30857208e-03 1.30348707e+02] [ 9.78960316e-01 2.03958938e-01 -6.11979231e-03 9.83640111e+01] [ 6.25804584e-03 -3.28794672e-05 9.99980418e-01 1.00546901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.701858064 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:130.35, Y:98.39, Z:1.01 [[ 2.02709741e-01 -9.79237996e-01 -1.30732353e-03 1.30354832e+02] [ 9.79218872e-01 2.02713953e-01 -6.12005901e-03 9.83918471e+01] [ 6.25800704e-03 -3.95602977e-05 9.99980418e-01 1.00614841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.731858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:130.36, Y:98.42, Z:1.01 [[ 2.01340015e-01 -9.79520543e-01 -1.30561164e-03 1.30360545e+02] [ 9.79501422e-01 2.01344243e-01 -6.12042419e-03 9.84182106e+01] [ 6.25795862e-03 -4.65621532e-05 9.99980418e-01 1.00613616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.761858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:130.37, Y:98.45, Z:1.01 [[ 2.00202730e-01 -9.79753626e-01 -1.30381732e-03 1.30366564e+02] [ 9.79734508e-01 2.00206969e-01 -6.12080641e-03 9.84458005e+01] [ 6.25791558e-03 -5.19926676e-05 9.99980418e-01 1.00650948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.791858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:130.37, Y:98.47, Z:1.01 [[ 1.97505527e-01 -9.80300909e-01 -1.30212128e-03 1.30370631e+02] [ 9.80281800e-01 1.97509808e-01 -6.12116720e-03 9.84715055e+01] [ 6.25776749e-03 -6.74814349e-05 9.99980418e-01 1.00765973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:98.50, Z:1.01 [[ 1.98154651e-01 -9.80169955e-01 -1.26272272e-03 1.30378354e+02] [ 9.80150789e-01 1.98158673e-01 -6.12953079e-03 9.84997040e+01] [ 6.25820137e-03 -2.30636312e-05 9.99980417e-01 1.00701835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.851858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.38, Y:98.53, Z:1.01 [[ 1.97412698e-01 -9.80319610e-01 -1.29942041e-03 1.30383689e+02] [ 9.80300498e-01 1.97416964e-01 -6.12174122e-03 9.85268496e+01] [ 6.25779060e-03 -6.53130243e-05 9.99980418e-01 1.00764083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:98.55, Z:1.01 [[ 1.97121533e-01 -9.80378201e-01 -1.29774329e-03 1.30388000e+02] [ 9.80359088e-01 1.97125794e-01 -6.12209673e-03 9.85540992e+01] [ 6.25778886e-03 -6.54573312e-05 9.99980418e-01 1.00739044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:98.58, Z:1.01 [[ 1.98742546e-01 -9.80050876e-01 -1.29651813e-03 1.30394763e+02] [ 9.80031754e-01 1.98746767e-01 -6.12235618e-03 9.85820500e+01] [ 6.25789933e-03 -5.38562885e-05 9.99980418e-01 1.00746232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.39, Y:98.61, Z:1.01 [[ 1.95486652e-01 -9.80705480e-01 -1.31527321e-03 1.30394400e+02] [ 9.80686399e-01 1.95491054e-01 -6.11838759e-03 9.86061432e+01] [ 6.25746039e-03 -9.38074454e-05 9.99980418e-01 1.00534277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:98.64, Z:1.01 [[ 1.96668370e-01 -9.80469288e-01 -1.23567700e-03 1.30402127e+02] [ 9.80450093e-01 1.96672252e-01 -6.13513867e-03 9.86352641e+01] [ 6.25833843e-03 -4.93190966e-06 9.99980416e-01 1.00838840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.41, Y:98.66, Z:1.01 [[ 1.95923697e-01 -9.80618297e-01 -1.28873853e-03 1.30407683e+02] [ 9.80599177e-01 1.95927925e-01 -6.12397233e-03 9.86626618e+01] [ 6.25777918e-03 -6.39046446e-05 9.99980418e-01 1.00961761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.41, Y:98.69, Z:1.01 [[ 1.94554552e-01 -9.80890855e-01 -1.28700682e-03 1.30413161e+02] [ 9.80871738e-01 1.94558796e-01 -6.12433624e-03 9.86891160e+01] [ 6.25770391e-03 -7.08711217e-05 9.99980418e-01 1.00991672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.42, Y:98.72, Z:1.01 [[ 1.92880928e-01 -9.81221329e-01 -1.28518307e-03 1.30418805e+02] [ 9.81202217e-01 1.92885193e-01 -6.12471893e-03 9.87162294e+01] [ 6.25759763e-03 -7.96830059e-05 9.99980418e-01 1.01262942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.42, Y:98.74, Z:1.01 [[ 1.92367919e-01 -9.81322035e-01 -1.28346192e-03 1.30423479e+02] [ 9.81302923e-01 1.92372184e-01 -6.12507958e-03 9.87440800e+01] [ 6.25757793e-03 -8.11961131e-05 9.99980418e-01 1.01341518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:98.77, Z:1.01 [[ 1.91866561e-01 -9.81420185e-01 -1.28174423e-03 1.30427372e+02] [ 9.81401073e-01 1.91870825e-01 -6.12543901e-03 9.87715492e+01] [ 6.25755881e-03 -8.26382451e-05 9.99980418e-01 1.01387647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:98.80, Z:1.02 [[ 1.92841275e-01 -9.81229129e-01 -1.28002014e-03 1.30430593e+02] [ 9.81210010e-01 1.92845509e-01 -6.12579927e-03 9.87980901e+01] [ 6.25765882e-03 -7.46616335e-05 9.99980418e-01 1.01503547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:130.44, Y:98.83, Z:1.02 [[ 1.93662650e-01 -9.81067349e-01 -1.27820128e-03 1.30435016e+02] [ 9.81048224e-01 1.93666857e-01 -6.12617876e-03 9.88252380e+01] [ 6.25773919e-03 -6.75650837e-05 9.99980418e-01 1.01550340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:98.86, Z:1.01 [[ 1.92973855e-01 -9.81203069e-01 -1.27642872e-03 1.30438948e+02] [ 9.81183944e-01 1.92978064e-01 -6.12654807e-03 9.88552296e+01] [ 6.25771051e-03 -7.01477648e-05 9.99980418e-01 1.01425179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.44, Y:98.88, Z:1.01 [[ 1.95642529e-01 -9.80674410e-01 -1.30471493e-03 1.30439041e+02] [ 9.80655313e-01 1.95646863e-01 -6.12067640e-03 9.88809268e+01] [ 6.25765410e-03 -8.20110159e-05 9.99980417e-01 1.01116868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27185806399999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.45, Y:98.91, Z:1.01 [[ 2.00347862e-01 -9.79724048e-01 -1.23461411e-03 1.30446216e+02] [ 9.79704838e-01 2.00351665e-01 -6.13524561e-03 9.89099569e+01] [ 6.25820465e-03 1.96259259e-05 9.99980417e-01 1.01481132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:98.94, Z:1.01 [[ 2.03176618e-01 -9.79141277e-01 -1.27328079e-03 1.30452270e+02] [ 9.79122106e-01 2.03180608e-01 -6.12721038e-03 9.89391929e+01] [ 6.25811056e-03 -1.79148882e-06 9.99980418e-01 1.01412646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.331858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.45, Y:98.96, Z:1.02 [[ 2.03936956e-01 -9.78983151e-01 -1.30691473e-03 1.30454334e+02] [ 9.78964021e-01 2.03941141e-01 -6.12022107e-03 9.89647484e+01] [ 6.25812699e-03 -3.12832440e-05 9.99980417e-01 1.01533650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.361858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.46, Y:98.99, Z:1.02 [[ 2.03662729e-01 -9.79040284e-01 -1.27056057e-03 1.30460051e+02] [ 9.79021108e-01 2.03666692e-01 -6.12775893e-03 9.89927544e+01] [ 6.25809372e-03 4.09048652e-06 9.99980418e-01 1.01550195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.46, Y:99.02, Z:1.02 [[ 2.07165375e-01 -9.78305115e-01 -1.26884402e-03 1.30462052e+02] [ 9.78285922e-01 2.07169259e-01 -6.12811435e-03 9.90186060e+01] [ 6.25803109e-03 2.82408698e-05 9.99980418e-01 1.01538630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.46, Y:99.04, Z:1.01 [[ 2.05971473e-01 -9.78557210e-01 -1.24086975e-03 1.30463793e+02] [ 9.78537986e-01 2.05975205e-01 -6.13389828e-03 9.90447708e+01] [ 6.25795879e-03 4.91698835e-05 9.99980418e-01 1.01236863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.451858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.47, Y:99.08, Z:1.02 [[ 2.09146817e-01 -9.77883506e-01 -1.20709406e-03 1.30470097e+02] [ 9.77864230e-01 2.09150275e-01 -6.14087241e-03 9.90761109e+01] [ 6.25752190e-03 1.03969814e-04 9.99980416e-01 1.01697271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.481858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.47, Y:99.10, Z:1.02 [[ 2.09193325e-01 -9.77873484e-01 -1.26588047e-03 1.30474723e+02] [ 9.77854279e-01 2.09197151e-01 -6.12873018e-03 9.91035986e+01] [ 6.25794132e-03 4.42428114e-05 9.99980418e-01 1.01652071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.511858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:130.48, Y:99.13, Z:1.02 [[ 2.08549630e-01 -9.78010968e-01 -1.26415018e-03 1.30479784e+02] [ 9.77991764e-01 2.08553457e-01 -6.12908706e-03 9.91315405e+01] [ 6.25795726e-03 4.18903725e-05 9.99980418e-01 1.01629442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.541858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.48, Y:99.16, Z:1.02 [[ 2.05515613e-01 -9.78653023e-01 -1.26242444e-03 1.30484517e+02] [ 9.78633828e-01 2.05519488e-01 -6.12944249e-03 9.91578034e+01] [ 6.25805025e-03 2.42448632e-05 9.99980418e-01 1.01631730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.571858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.49, Y:99.19, Z:1.02 [[ 2.03333053e-01 -9.79108820e-01 -1.26060601e-03 1.30490105e+02] [ 9.79089631e-01 2.03336960e-01 -6.12981645e-03 9.91853762e+01] [ 6.25808515e-03 1.21480212e-05 9.99980418e-01 1.01630098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.601858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:130.50, Y:99.21, Z:1.02 [[ 2.00947268e-01 -9.79601251e-01 -1.25891113e-03 1.30495858e+02] [ 9.79582070e-01 2.00951211e-01 -6.13016452e-03 9.92126647e+01] [ 6.25809655e-03 -1.36696077e-06 9.99980418e-01 1.01669776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.631858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.50, Y:99.24, Z:1.02 [[ 1.98526805e-01 -9.80094652e-01 -1.25719160e-03 1.30502000e+02] [ 9.80075479e-01 1.98530785e-01 -6.13051715e-03 9.92398413e+01] [ 6.25807831e-03 -1.50706822e-05 9.99980418e-01 1.01649310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.661858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.51, Y:99.27, Z:1.02 [[ 1.94757893e-01 -9.80850543e-01 -1.25547531e-03 1.30508309e+02] [ 9.80831383e-01 1.94761936e-01 -6.13086861e-03 9.92664699e+01] [ 6.25798460e-03 -3.73745346e-05 9.99980418e-01 1.01640554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:99.30, Z:1.02 [[ 1.95501440e-01 -9.80702612e-01 -1.25422451e-03 1.30518776e+02] [ 9.80683448e-01 1.95505460e-01 -6.13112448e-03 9.92980247e+01] [ 6.25801753e-03 -3.13535512e-05 9.99980418e-01 1.01675989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.52, Y:99.33, Z:1.02 [[ 1.92803838e-01 -9.81236407e-01 -1.33915539e-03 1.30521849e+02] [ 9.81217370e-01 1.92808441e-01 -6.11380352e-03 9.93269867e+01] [ 6.25728706e-03 -1.35237747e-04 9.99980414e-01 1.01633318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:99.35, Z:1.01 [[ 1.89740098e-01 -9.81833445e-01 -1.33472826e-03 1.30521397e+02] [ 9.81814416e-01 1.89744733e-01 -6.11470007e-03 9.93493497e+01] [ 6.25687469e-03 -1.50251651e-04 9.99980414e-01 1.01438894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:99.38, Z:1.01 [[ 1.89046839e-01 -9.81967291e-01 -1.23760989e-03 1.30526811e+02] [ 9.81948132e-01 1.89050882e-01 -6.13429399e-03 9.93768918e+01] [ 6.25764729e-03 -5.55998315e-05 9.99980419e-01 1.01446490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.811858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.53, Y:99.40, Z:1.01 [[ 1.89065264e-01 -9.81963746e-01 -1.23586153e-03 1.30532214e+02] [ 9.81944585e-01 1.89069296e-01 -6.13464620e-03 9.94021762e+01] [ 6.25766363e-03 -5.36990321e-05 9.99980419e-01 1.01370978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:99.43, Z:1.01 [[ 1.89237443e-01 -9.81930607e-01 -1.21399672e-03 1.30543251e+02] [ 9.81911416e-01 1.89241334e-01 -6.13904487e-03 9.94331838e+01] [ 6.25785441e-03 -3.03000915e-05 9.99980419e-01 1.01498557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.871858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.55, Y:99.46, Z:1.02 [[ 1.86929933e-01 -9.82372408e-01 -1.28505874e-03 1.30549256e+02] [ 9.82353322e-01 1.86934313e-01 -6.12476165e-03 9.94630895e+01] [ 6.25701843e-03 -1.17480431e-04 9.99980418e-01 1.01570811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:99.49, Z:1.01 [[ 1.86353706e-01 -9.82481856e-01 -1.30362573e-03 1.30555322e+02] [ 9.82462798e-01 1.86358213e-01 -6.12101664e-03 9.94896690e+01] [ 6.25672915e-03 -1.40089654e-04 9.99980417e-01 1.01457522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:99.52, Z:1.02 [[ 1.85781991e-01 -9.82590125e-01 -1.30312728e-03 1.30562185e+02] [ 9.82571069e-01 1.85786506e-01 -6.12111654e-03 9.95208111e+01] [ 6.25665213e-03 -1.43221943e-04 9.99980417e-01 1.01500702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96185806399998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:130.56, Y:99.54, Z:1.01 [[ 1.79451661e-01 -9.83765870e-01 -1.34681426e-03 1.30560408e+02] [ 9.83746908e-01 1.79456570e-01 -6.11238658e-03 9.95423365e+01] [ 6.25485197e-03 -2.28046433e-04 9.99980412e-01 1.01466369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:99.57, Z:1.02 [[ 1.82239632e-01 -9.83253389e-01 -1.22058702e-03 1.30569272e+02] [ 9.83234237e-01 1.82243701e-01 -6.13748994e-03 9.95704760e+01] [ 6.25715208e-03 -8.16290414e-05 9.99980421e-01 1.01591389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:99.60, Z:1.02 [[ 1.80977411e-01 -9.83486458e-01 -1.25057564e-03 1.30573845e+02] [ 9.83467352e-01 1.80981691e-01 -6.13152944e-03 9.95958492e+01] [ 6.25660747e-03 -1.20231991e-04 9.99980420e-01 1.01581214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:99.62, Z:1.02 [[ 1.77750028e-01 -9.84074901e-01 -1.23157635e-03 1.30575555e+02] [ 9.84055783e-01 1.77754253e-01 -6.13529381e-03 9.96216001e+01] [ 6.25650658e-03 -1.21391185e-04 9.99980421e-01 1.01693499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.081858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.58, Y:99.65, Z:1.02 [[ 1.79624885e-01 -9.83734461e-01 -1.18813885e-03 1.30584558e+02] [ 9.83715277e-01 1.79628803e-01 -6.14388239e-03 9.96528717e+01] [ 6.25737279e-03 -6.51961659e-05 9.99980420e-01 1.01650052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.111858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.59, Y:99.68, Z:1.02 [[ 1.78008195e-01 -9.84028224e-01 -1.23996476e-03 1.30590317e+02] [ 9.84009116e-01 1.78012467e-01 -6.13366150e-03 9.96832198e+01] [ 6.25642522e-03 -1.28294612e-04 9.99980420e-01 1.01688422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.141858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.59, Y:99.71, Z:1.02 [[ 1.81847629e-01 -9.83325881e-01 -1.28548014e-03 1.30593493e+02] [ 9.83306818e-01 1.81852110e-01 -6.12467616e-03 9.97073630e+01] [ 6.25631985e-03 -1.50263553e-04 9.99980418e-01 1.01597055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:99.73, Z:1.02 [[ 1.80548978e-01 -9.83565212e-01 -1.24139226e-03 1.30594329e+02] [ 9.83546095e-01 1.80553210e-01 -6.13338080e-03 9.97323357e+01] [ 6.25671734e-03 -1.13590876e-04 9.99980420e-01 1.01834493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:99.76, Z:1.02 [[ 1.82038480e-01 -9.83290685e-01 -1.19217159e-03 1.30598755e+02] [ 9.83271497e-01 1.82042376e-01 -6.14307100e-03 9.97608538e+01] [ 6.25745024e-03 -5.39530390e-05 9.99980421e-01 1.01749740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:99.79, Z:1.02 [[ 1.83157435e-01 -9.83082852e-01 -1.20791334e-03 1.30603103e+02] [ 9.83063680e-01 1.83161408e-01 -6.13997414e-03 9.97872461e+01] [ 6.25734640e-03 -6.28738148e-05 9.99980421e-01 1.01738116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:99.82, Z:1.02 [[ 1.85392976e-01 -9.82663722e-01 -1.20594144e-03 1.30610932e+02] [ 9.82644538e-01 1.85396892e-01 -6.14036141e-03 9.98167885e+01] [ 6.25748819e-03 -4.66318900e-05 9.99980421e-01 1.01540558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:99.85, Z:1.02 [[ 1.88245236e-01 -9.82121274e-01 -1.23860220e-03 1.30621063e+02] [ 9.82102121e-01 1.88249301e-01 -6.13397180e-03 9.98502432e+01] [ 6.25747019e-03 -6.17428777e-05 9.99980420e-01 1.01574256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:130.62, Y:99.87, Z:1.02 [[ 1.85051001e-01 -9.82727988e-01 -1.35234304e-03 1.30617661e+02] [ 9.82709003e-01 1.85055837e-01 -6.11166289e-03 9.98696557e+01] [ 6.25636114e-03 -1.97990349e-04 9.99980409e-01 1.01704405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.63, Y:99.90, Z:1.02 [[ 1.89299845e-01 -9.81918599e-01 -1.19715970e-03 1.30630541e+02] [ 9.81899390e-01 1.89303630e-01 -6.14191076e-03 9.99031661e+01] [ 6.25748309e-03 -1.28276248e-05 9.99980422e-01 1.01584772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.63, Y:99.92, Z:1.02 [[ 1.85414331e-01 -9.82659534e-01 -1.32913393e-03 1.30628125e+02] [ 9.82640515e-01 1.85419015e-01 -6.11611112e-03 9.99238787e+01] [ 6.25650160e-03 -1.72046203e-04 9.99980413e-01 1.01793583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.411858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.64, Y:99.96, Z:1.02 [[ 1.87770461e-01 -9.82212217e-01 -1.18902597e-03 1.30636717e+02] [ 9.82193005e-01 1.87774225e-01 -6.14334076e-03 9.99554796e+01] [ 6.25733278e-03 -1.43150626e-05 9.99980423e-01 1.01584945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:99.98, Z:1.02 [[ 1.85768985e-01 -9.82592648e-01 -1.25365797e-03 1.30641115e+02] [ 9.82573526e-01 1.85773192e-01 -6.13084825e-03 9.99847078e+01] [ 6.25702246e-03 -9.28896719e-05 9.99980420e-01 1.01633227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.471858064 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:130.65, Y:100.02, Z:1.01 [[ 1.88048244e-01 -9.82158982e-01 -1.26157067e-03 1.30650632e+02] [ 9.82139860e-01 1.88052456e-01 -6.12931357e-03 1.00015228e+02] [ 6.25720185e-03 -8.64321878e-05 9.99980420e-01 1.01468892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.65, Y:100.04, Z:1.02 [[ 1.83402333e-01 -9.83037029e-01 -1.33589568e-03 1.30648551e+02] [ 9.83018029e-01 1.83407098e-01 -6.11488926e-03 1.00035025e+02] [ 6.25617531e-03 -1.91724583e-04 9.99980412e-01 1.01669188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.65, Y:100.06, Z:1.02 [[ 1.81285194e-01 -9.83429860e-01 -1.17817811e-03 1.30654358e+02] [ 9.83410661e-01 1.81289017e-01 -6.14530269e-03 1.00061282e+02] [ 6.25706491e-03 -4.45805218e-05 9.99980423e-01 1.01600401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561858064 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:130.66, Y:100.09, Z:1.02 [[ 1.79426544e-01 -9.83770669e-01 -1.17761565e-03 1.30659829e+02] [ 9.83751476e-01 1.79430399e-01 -6.14541093e-03 1.00089349e+02] [ 6.25697507e-03 -5.58312870e-05 9.99980423e-01 1.01588291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:100.12, Z:1.02 [[ 1.78764386e-01 -9.83891201e-01 -1.18241321e-03 1.30667712e+02] [ 9.83872017e-01 1.78768285e-01 -6.14448873e-03 1.00119338e+02] [ 6.25688638e-03 -6.49275155e-05 9.99980423e-01 1.01698803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.67, Y:100.14, Z:1.01 [[ 1.74677420e-01 -9.84624940e-01 -1.23529666e-03 1.30668971e+02] [ 9.84605842e-01 1.74681728e-01 -6.13440888e-03 1.00144387e+02] [ 6.25587573e-03 -1.44737594e-04 9.99980421e-01 1.01496714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.68, Y:100.17, Z:1.02 [[ 1.72856922e-01 -9.84946235e-01 -1.18234694e-03 1.30675835e+02] [ 9.84927075e-01 1.72860935e-01 -6.14446932e-03 1.00173143e+02] [ 6.25635352e-03 -1.02411457e-04 9.99980424e-01 1.01851928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.68, Y:100.20, Z:1.02 [[ 1.73163162e-01 -9.84892415e-01 -1.20401194e-03 1.30683701e+02] [ 9.84873282e-01 1.73167305e-01 -6.14035518e-03 1.00201865e+02] [ 6.25608474e-03 -1.22515871e-04 9.99980423e-01 1.01758452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.69, Y:100.23, Z:1.02 [[ 1.69977301e-01 -9.85447217e-01 -1.22442990e-03 1.30685444e+02] [ 9.85428124e-01 1.69981632e-01 -6.13648320e-03 1.00226757e+02] [ 6.25531089e-03 -1.63524804e-04 9.99980422e-01 1.01900799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.69, Y:100.25, Z:1.02 [[ 1.68636255e-01 -9.85677667e-01 -1.16213455e-03 1.30691386e+02] [ 9.85658498e-01 1.68640224e-01 -6.14825819e-03 1.00253936e+02] [ 6.25618342e-03 -1.08648554e-04 9.99980424e-01 1.01943404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:100.28, Z:1.02 [[ 1.69048350e-01 -9.85607055e-01 -1.17798371e-03 1.30697642e+02] [ 9.85587905e-01 1.69052410e-01 -6.14526362e-03 1.00281793e+02] [ 6.25595616e-03 -1.22159823e-04 9.99980424e-01 1.02012656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.801858064 meters Centerline goodness : 0.996637 Centerline is valid? [True, True] Translation: X:130.70, Y:100.31, Z:1.02 [[ 1.68309030e-01 -9.85733561e-01 -1.19075387e-03 1.30701736e+02] [ 9.85714430e-01 1.68313184e-01 -6.14284563e-03 1.00307305e+02] [ 6.25562867e-03 -1.39846881e-04 9.99980424e-01 1.01930184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.831858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:130.71, Y:100.33, Z:1.02 [[ 1.68993323e-01 -9.85616487e-01 -1.18185732e-03 1.30706773e+02] [ 9.85597342e-01 1.68997408e-01 -6.14452596e-03 1.00333260e+02] [ 6.25587692e-03 -1.26451571e-04 9.99980424e-01 1.02080388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.71, Y:100.36, Z:1.02 [[ 1.71170976e-01 -9.85240620e-01 -1.19077872e-03 1.30712491e+02] [ 9.85221477e-01 1.71175074e-01 -6.14285554e-03 1.00361522e+02] [ 6.25602243e-03 -1.21702190e-04 9.99980424e-01 1.02023068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.891858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.71, Y:100.39, Z:1.02 [[ 1.69985076e-01 -9.85445914e-01 -1.19344344e-03 1.30713954e+02] [ 9.85426780e-01 1.69989214e-01 -6.14235703e-03 1.00385068e+02] [ 6.25583315e-03 -1.31942103e-04 9.99980423e-01 1.01587981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:100.42, Z:1.02 [[ 1.75078827e-01 -9.84553763e-01 -1.13697315e-03 1.30725874e+02] [ 9.84534537e-01 1.75082514e-01 -6.15289174e-03 1.00417900e+02] [ 6.25691683e-03 -4.21482688e-05 9.99980424e-01 1.02145416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.951858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:130.73, Y:100.44, Z:1.02 [[ 1.76517956e-01 -9.84296647e-01 -1.23354959e-03 1.30726497e+02] [ 9.84277537e-01 1.76522217e-01 -6.13485390e-03 1.00441491e+02] [ 6.25626503e-03 -1.31243282e-04 9.99980421e-01 1.01998613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.981858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.73, Y:100.47, Z:1.01 [[ 1.76420413e-01 -9.84314228e-01 -1.15685584e-03 1.30729339e+02] [ 9.84295022e-01 1.76424197e-01 -6.14912771e-03 1.00469042e+02] [ 6.25677126e-03 -5.38558004e-05 9.99980425e-01 1.01495773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.011858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.74, Y:100.50, Z:1.02 [[ 1.79776444e-01 -9.83706829e-01 -1.14219043e-03 1.30735812e+02] [ 9.83687593e-01 1.79780072e-01 -6.15185328e-03 1.00497808e+02] [ 6.25696316e-03 -1.76002479e-05 9.99980425e-01 1.02007586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.041858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.74, Y:100.53, Z:1.02 [[ 1.82478669e-01 -9.83209134e-01 -1.15491867e-03 1.30742312e+02] [ 9.83189903e-01 1.82482324e-01 -6.14949035e-03 1.00526849e+02] [ 6.25698732e-03 -1.33535564e-05 9.99980425e-01 1.01918612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.071858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.74, Y:100.55, Z:1.01 [[ 1.80017431e-01 -9.83662718e-01 -1.17540053e-03 1.30740753e+02] [ 9.83643521e-01 1.80021262e-01 -6.14569330e-03 1.00549546e+02] [ 6.25688646e-03 -4.98431946e-05 9.99980424e-01 1.01482081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:100.58, Z:1.02 [[ 1.86021690e-01 -9.82545043e-01 -1.08115047e-03 1.30751763e+02] [ 9.82525718e-01 1.86024813e-01 -6.16307230e-03 1.00580730e+02] [ 6.25661695e-03 8.42069843e-05 9.99980424e-01 1.02121285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.131858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:130.76, Y:100.61, Z:1.02 [[ 1.87003034e-01 -9.82358662e-01 -1.15048496e-03 1.30756978e+02] [ 9.82339410e-01 1.87006572e-01 -6.15027537e-03 1.00607477e+02] [ 6.25692454e-03 1.99534419e-05 9.99980425e-01 1.02126974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:100.63, Z:1.02 [[ 1.87323882e-01 -9.82297531e-01 -1.15087916e-03 1.30760025e+02] [ 9.82278277e-01 1.87327416e-01 -6.15020271e-03 1.00633535e+02] [ 6.25692015e-03 2.15962416e-05 9.99980425e-01 1.01728884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.191858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.77, Y:100.66, Z:1.02 [[ 1.89842343e-01 -9.81813955e-01 -1.11433070e-03 1.30767893e+02] [ 9.81794653e-01 1.89845599e-01 -6.15692465e-03 1.00662292e+02] [ 6.25650532e-03 7.48010828e-05 9.99980425e-01 1.02205031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.77, Y:100.69, Z:1.02 [[ 1.90543278e-01 -9.81678131e-01 -1.14308051e-03 1.30773831e+02] [ 9.81658857e-01 1.90546700e-01 -6.15164204e-03 1.00689888e+02] [ 6.25674268e-03 5.00389343e-05 9.99980425e-01 1.02069705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.78, Y:100.72, Z:1.02 [[ 1.90209546e-01 -9.81742845e-01 -1.14653475e-03 1.30779402e+02] [ 9.81723577e-01 1.90212996e-01 -6.15100811e-03 1.00716771e+02] [ 6.25679402e-03 4.44002682e-05 9.99980425e-01 1.02099870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:100.74, Z:1.02 [[ 1.91264360e-01 -9.81537881e-01 -1.15465172e-03 1.30784942e+02] [ 9.81518618e-01 1.91267840e-01 -6.14952075e-03 1.00741915e+02] [ 6.25683531e-03 4.28719899e-05 9.99980425e-01 1.02150468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:100.77, Z:1.02 [[ 1.90989950e-01 -9.81591347e-01 -1.12552036e-03 1.30789995e+02] [ 9.81572053e-01 1.90993254e-01 -6.15484793e-03 1.00770047e+02] [ 6.25651226e-03 7.07347721e-05 9.99980425e-01 1.02167301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:100.80, Z:1.02 [[ 1.90540582e-01 -9.81678676e-01 -1.12379956e-03 1.30797063e+02] [ 9.81659382e-01 1.90543883e-01 -6.15516211e-03 1.00797746e+02] [ 6.25652452e-03 6.96197840e-05 9.99980425e-01 1.02198963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.371858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.80, Y:100.83, Z:1.02 [[ 1.90419581e-01 -9.81702156e-01 -1.12208098e-03 1.30803481e+02] [ 9.81682861e-01 1.90422874e-01 -6.15547539e-03 1.00825284e+02] [ 6.25651335e-03 7.05953828e-05 9.99980425e-01 1.02203607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.81, Y:100.85, Z:1.02 [[ 1.90182378e-01 -9.81748139e-01 -1.12035351e-03 1.30809719e+02] [ 9.81728842e-01 1.90185665e-01 -6.15578978e-03 1.00852473e+02] [ 6.25651034e-03 7.08393829e-05 9.99980425e-01 1.02174787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.82, Y:100.88, Z:1.02 [[ 1.90174272e-01 -9.81749711e-01 -1.11863100e-03 1.30819953e+02] [ 9.81730412e-01 1.90177548e-01 -6.15610278e-03 1.00882540e+02] [ 6.25649063e-03 7.25382920e-05 9.99980425e-01 1.01979243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:100.91, Z:1.02 [[ 1.89797096e-01 -9.81822610e-01 -1.19361233e-03 1.30825662e+02] [ 9.81803396e-01 1.89800849e-01 -6.14248073e-03 1.00910138e+02] [ 6.25737509e-03 -6.06763355e-06 9.99980422e-01 1.01968802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:100.93, Z:1.02 [[ 1.89270149e-01 -9.81924323e-01 -1.19740242e-03 1.30828011e+02] [ 9.81905115e-01 1.89273936e-01 -6.14179377e-03 1.00932209e+02] [ 6.25741376e-03 -1.32773378e-05 9.99980422e-01 1.01983837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:100.96, Z:1.02 [[ 1.88382293e-01 -9.82095147e-01 -1.11071801e-03 1.30834519e+02] [ 9.82075847e-01 1.88385555e-01 -6.15743050e-03 1.00961020e+02] [ 6.25642585e-03 6.91415457e-05 9.99980426e-01 1.02047703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:100.99, Z:1.02 [[ 1.85119243e-01 -9.82715410e-01 -1.13560190e-03 1.30839917e+02] [ 9.82696147e-01 1.85122725e-01 -6.15297680e-03 1.00986570e+02] [ 6.25685083e-03 2.30827960e-05 9.99980425e-01 1.01711779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.581858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.85, Y:101.02, Z:1.02 [[ 1.85765612e-01 -9.82593484e-01 -1.08797767e-03 1.30848870e+02] [ 9.82574168e-01 1.85768782e-01 -6.16147749e-03 1.01015019e+02] [ 6.25633992e-03 7.55718778e-05 9.99980426e-01 1.02048425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.86, Y:101.04, Z:1.02 [[ 1.82916879e-01 -9.83127722e-01 -1.13909431e-03 1.30856716e+02] [ 9.83108472e-01 1.82920425e-01 -6.15232801e-03 1.01040590e+02] [ 6.25688784e-03 5.51136688e-06 9.99980425e-01 1.02045402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.86, Y:101.07, Z:1.02 [[ 1.81724714e-01 -9.83348799e-01 -1.12566749e-03 1.30863160e+02] [ 9.83329538e-01 1.81728200e-01 -6.15472670e-03 1.01066245e+02] [ 6.25680864e-03 1.15638535e-05 9.99980426e-01 1.02084888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.671858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.87, Y:101.09, Z:1.02 [[ 1.80405324e-01 -9.83591728e-01 -1.10989353e-03 1.30869897e+02] [ 9.83572454e-01 1.80408737e-01 -6.15753935e-03 1.01093288e+02] [ 6.25673926e-03 1.91921801e-05 9.99980426e-01 1.02192830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.88, Y:101.12, Z:1.02 [[ 1.79139131e-01 -9.83823139e-01 -1.09654007e-03 1.30877392e+02] [ 9.83803855e-01 1.79142485e-01 -6.15991643e-03 1.01120511e+02] [ 6.25670523e-03 2.47017290e-05 9.99980426e-01 1.02272842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:101.15, Z:1.02 [[ 1.74806030e-01 -9.84602282e-01 -1.09483203e-03 1.30885216e+02] [ 9.84583011e-01 1.74809458e-01 -6.16022000e-03 1.01147001e+02] [ 6.25675366e-03 -1.10941655e-06 9.99980426e-01 1.02141692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.89, Y:101.17, Z:1.02 [[ 1.73113649e-01 -9.84901250e-01 -1.09172228e-03 1.30891670e+02] [ 9.84881982e-01 1.73117091e-01 -6.16077165e-03 1.01173355e+02] [ 6.25674748e-03 -8.70393737e-06 9.99980426e-01 1.02179336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.791858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:130.90, Y:101.21, Z:1.02 [[ 1.73712761e-01 -9.84795758e-01 -1.09147084e-03 1.30904053e+02] [ 9.84776487e-01 1.73716190e-01 -6.16081619e-03 1.01205236e+02] [ 6.25675181e-03 -4.64242863e-06 9.99980426e-01 1.02245736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:101.23, Z:1.02 [[ 1.73939773e-01 -9.84755586e-01 -1.17951273e-03 1.30907871e+02] [ 9.84736416e-01 1.73943748e-01 -6.14519169e-03 1.01230303e+02] [ 6.25668070e-03 -9.26158911e-05 9.99980423e-01 1.02335234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.91, Y:101.26, Z:1.02 [[ 1.74564676e-01 -9.84645030e-01 -1.15748970e-03 1.30913992e+02] [ 9.84625831e-01 1.74568500e-01 -6.14910669e-03 1.01257249e+02] [ 6.25674858e-03 -6.62774434e-05 9.99980424e-01 1.02281047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:101.28, Z:1.02 [[ 1.73060568e-01 -9.84910509e-01 -1.15294070e-03 1.30918455e+02] [ 9.84891311e-01 1.73064393e-01 -6.14991398e-03 1.01282772e+02] [ 6.25664789e-03 -7.12136702e-05 9.99980424e-01 1.02407213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:101.31, Z:1.03 [[ 1.69581164e-01 -9.85515567e-01 -1.13852186e-03 1.30922454e+02] [ 9.85496365e-01 1.69584967e-01 -6.15246716e-03 1.01310696e+02] [ 6.25642835e-03 -7.86666115e-05 9.99980425e-01 1.02513909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.92, Y:101.33, Z:1.03 [[ 1.67713273e-01 -9.85835151e-01 -1.14568472e-03 1.30923170e+02] [ 9.85815966e-01 1.67717157e-01 -6.15119540e-03 1.01331618e+02] [ 6.25621563e-03 -9.77971808e-05 9.99980425e-01 1.02672006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:101.36, Z:1.03 [[ 1.64682051e-01 -9.86346133e-01 -1.06200448e-03 1.30928037e+02] [ 9.86326861e-01 1.64685472e-01 -6.16598140e-03 1.01359278e+02] [ 6.25668862e-03 -3.20570837e-05 9.99980426e-01 1.02727175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:101.38, Z:1.03 [[ 1.63656971e-01 -9.86516707e-01 -1.08782541e-03 1.30932484e+02] [ 9.86497468e-01 1.63660574e-01 -6.16142260e-03 1.01384311e+02] [ 6.25638047e-03 -6.47772471e-05 9.99980427e-01 1.02700149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:101.41, Z:1.03 [[ 1.60847721e-01 -9.86978652e-01 -1.07338855e-03 1.30937590e+02] [ 9.86959406e-01 1.60851288e-01 -6.16396624e-03 1.01411151e+02] [ 6.25635902e-03 -6.79310118e-05 9.99980426e-01 1.02716180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061858064 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:130.94, Y:101.44, Z:1.03 [[ 1.59046229e-01 -9.87270549e-01 -1.07709922e-03 1.30941329e+02] [ 9.87251314e-01 1.59049854e-01 -6.16331361e-03 1.01437302e+02] [ 6.25617048e-03 -8.31158320e-05 9.99980427e-01 1.02761586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.091858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.95, Y:101.47, Z:1.03 [[ 1.57885036e-01 -9.87456924e-01 -1.06728439e-03 1.30947459e+02] [ 9.87437682e-01 1.57888623e-01 -6.16503511e-03 1.01465641e+02] [ 6.25621867e-03 -8.05100270e-05 9.99980426e-01 1.02605528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:130.95, Y:101.49, Z:1.03 [[ 1.56729891e-01 -9.87640880e-01 -1.11045234e-03 1.30950470e+02] [ 9.87621694e-01 1.56733770e-01 -6.15751294e-03 1.01492485e+02] [ 6.25545688e-03 -1.31640487e-04 9.99980426e-01 1.02590248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.151858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.96, Y:101.52, Z:1.03 [[ 1.55145250e-01 -9.87891063e-01 -1.09540767e-03 1.30955150e+02] [ 9.87871864e-01 1.55149065e-01 -6.16012611e-03 1.01522048e+02] [ 6.25548500e-03 -1.26408119e-04 9.99980426e-01 1.02654790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:101.55, Z:1.03 [[ 1.58097037e-01 -9.87422929e-01 -1.13382340e-03 1.30959199e+02] [ 9.87403766e-01 1.58101034e-01 -6.15346032e-03 1.01546955e+02] [ 6.25532647e-03 -1.46697652e-04 9.99980425e-01 1.02995715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.96, Y:101.58, Z:1.03 [[ 1.57415039e-01 -9.87531914e-01 -1.10674206e-03 1.30964196e+02] [ 9.87512720e-01 1.57418881e-01 -6.15815364e-03 1.01577160e+02] [ 6.25559535e-03 -1.23535868e-04 9.99980426e-01 1.02526635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.96, Y:101.60, Z:1.03 [[ 1.57076483e-01 -9.87585774e-01 -1.14808599e-03 1.30962635e+02] [ 9.87566633e-01 1.57080589e-01 -6.15094671e-03 1.01599642e+02] [ 6.25492949e-03 -1.67642346e-04 9.99980424e-01 1.02797257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.97, Y:101.62, Z:1.03 [[ 1.59386733e-01 -9.87215627e-01 -1.08364473e-03 1.30965711e+02] [ 9.87196399e-01 1.59390393e-01 -6.16211671e-03 1.01624641e+02] [ 6.25606048e-03 -8.76105227e-05 9.99980427e-01 1.02739116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.301858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.97, Y:101.65, Z:1.03 [[ 1.58291957e-01 -9.87391816e-01 -1.02882419e-03 1.30969239e+02] [ 9.87372529e-01 1.58295296e-01 -6.17159614e-03 1.01653472e+02] [ 6.25664155e-03 -3.89187091e-05 9.99980426e-01 1.02858608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.331858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:130.97, Y:101.68, Z:1.03 [[ 1.58990952e-01 -9.87279476e-01 -1.05476813e-03 1.30974946e+02] [ 9.87260216e-01 1.58994439e-01 -6.16711152e-03 1.01683233e+02] [ 6.25636490e-03 -6.08156819e-05 9.99980427e-01 1.02799873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.361858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:130.98, Y:101.71, Z:1.03 [[ 1.57416493e-01 -9.87531684e-01 -1.10471685e-03 1.30975672e+02] [ 9.87512489e-01 1.57420323e-01 -6.15848596e-03 1.01707696e+02] [ 6.25560489e-03 -1.21474423e-04 9.99980426e-01 1.03100947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:101.74, Z:1.03 [[ 1.58987878e-01 -9.87279985e-01 -1.04239484e-03 1.30982621e+02] [ 9.87260711e-01 1.58991287e-01 -6.16920500e-03 1.01738726e+02] [ 6.25646431e-03 -4.82866602e-05 9.99980427e-01 1.03095137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:101.76, Z:1.03 [[ 1.55587868e-01 -9.87821445e-01 -1.09881870e-03 1.30980971e+02] [ 9.87802250e-01 1.55591696e-01 -6.15949732e-03 1.01764136e+02] [ 6.25545061e-03 -1.27072522e-04 9.99980426e-01 1.03361460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.451858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.98, Y:101.79, Z:1.03 [[ 1.56171447e-01 -9.87729402e-01 -1.05251929e-03 1.30984200e+02] [ 9.87710150e-01 1.56174975e-01 -6.16743893e-03 1.01789894e+02] [ 6.25613794e-03 -7.64061291e-05 9.99980427e-01 1.03385639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.99, Y:101.82, Z:1.03 [[ 1.56545740e-01 -9.87670173e-01 -1.03019090e-03 1.30991001e+02] [ 9.87650894e-01 1.56549121e-01 -6.17125729e-03 1.01822376e+02] [ 6.25644224e-03 -5.13849289e-05 9.99980427e-01 1.03187925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.511858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.99, Y:101.85, Z:1.03 [[ 1.54682750e-01 -9.87963537e-01 -1.13864138e-03 1.30990075e+02] [ 9.87944393e-01 1.54686843e-01 -6.15273490e-03 1.01845566e+02] [ 6.25481058e-03 -1.73192416e-04 9.99980423e-01 1.03230311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.99, Y:101.87, Z:1.03 [[ 1.56121109e-01 -9.87737355e-01 -1.05654785e-03 1.30992963e+02] [ 9.87718108e-01 1.56124663e-01 -6.16669482e-03 1.01870253e+02] [ 6.25602801e-03 -8.08202152e-05 9.99980428e-01 1.03199468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.00, Y:101.90, Z:1.03 [[ 1.59977264e-01 -9.87120163e-01 -1.02936023e-03 1.30999048e+02] [ 9.87100872e-01 1.59980573e-01 -6.17130757e-03 1.01901526e+02] [ 6.25649977e-03 -2.88134843e-05 9.99980428e-01 1.02982714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.601858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.00, Y:101.93, Z:1.03 [[ 1.57070304e-01 -9.87586825e-01 -1.08769978e-03 1.30998338e+02] [ 9.87567610e-01 1.57074034e-01 -6.16141671e-03 1.01925447e+02] [ 6.25578336e-03 -1.06401475e-04 9.99980427e-01 1.03016996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:101.96, Z:1.03 [[ 1.58657673e-01 -9.87333127e-01 -1.01954043e-03 1.31005113e+02] [ 9.87313830e-01 1.58660946e-01 -6.17294565e-03 1.01958805e+02] [ 6.25651498e-03 -2.72211775e-05 9.99980427e-01 1.03184423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:101.99, Z:1.03 [[ 1.59915267e-01 -9.87130103e-01 -1.12575088e-03 1.31008833e+02] [ 9.87110921e-01 1.59919179e-01 -6.15510165e-03 1.01985331e+02] [ 6.25591528e-03 -1.26946261e-04 9.99980424e-01 1.03068511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:102.01, Z:1.03 [[ 1.59765624e-01 -9.87154341e-01 -1.11882529e-03 1.31008884e+02] [ 9.87135152e-01 1.59769496e-01 -6.15626679e-03 1.02011065e+02] [ 6.25593964e-03 -1.20871970e-04 9.99980424e-01 1.03145654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:102.04, Z:1.03 [[ 1.59199081e-01 -9.87245922e-01 -1.06842272e-03 1.31012656e+02] [ 9.87226678e-01 1.59202649e-01 -6.16471311e-03 1.02039705e+02] [ 6.25618360e-03 -7.33587526e-05 9.99980427e-01 1.03143347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:102.07, Z:1.03 [[ 1.59617747e-01 -9.87178295e-01 -1.09069502e-03 1.31017100e+02] [ 9.87159073e-01 1.59621446e-01 -6.16098360e-03 1.02068745e+02] [ 6.25608759e-03 -9.32871682e-05 9.99980426e-01 1.03194045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:102.10, Z:1.03 [[ 1.60839944e-01 -9.86979893e-01 -1.09718752e-03 1.31018138e+02] [ 9.86960674e-01 1.60843660e-01 -6.15990068e-03 1.02095831e+02] [ 6.25617377e-03 -9.21228535e-05 9.99980426e-01 1.03256119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:102.12, Z:1.03 [[ 1.61679417e-01 -9.86842754e-01 -1.07001090e-03 1.31021500e+02] [ 9.86823502e-01 1.61682947e-01 -6.16441425e-03 1.02124637e+02] [ 6.25631006e-03 -5.92530033e-05 9.99980427e-01 1.03351912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:102.15, Z:1.03 [[ 1.62417911e-01 -9.86721463e-01 -1.08445190e-03 1.31024923e+02] [ 9.86702225e-01 1.62421516e-01 -6.16201788e-03 1.02152906e+02] [ 6.25633363e-03 -6.92090366e-05 9.99980427e-01 1.03266133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.871858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.03, Y:102.18, Z:1.03 [[ 1.62699368e-01 -9.86675079e-01 -1.09766016e-03 1.31025011e+02] [ 9.86655854e-01 1.62703051e-01 -6.15982860e-03 1.02179493e+02] [ 6.25634202e-03 -8.08125976e-05 9.99980426e-01 1.03286935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:102.21, Z:1.03 [[ 1.62164881e-01 -9.86763098e-01 -1.06772425e-03 1.31028591e+02] [ 9.86743842e-01 1.62168387e-01 -6.16477765e-03 1.02208002e+02] [ 6.25632622e-03 -5.38598940e-05 9.99980428e-01 1.03347155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:102.24, Z:1.04 [[ 1.63097515e-01 -9.86609377e-01 -1.06663473e-03 1.31033253e+02] [ 9.86590117e-01 1.63100996e-01 -6.16495730e-03 1.02237157e+02] [ 6.25637386e-03 -4.68420612e-05 9.99980428e-01 1.03500411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.03, Y:102.26, Z:1.04 [[ 1.60705102e-01 -9.87001877e-01 -1.07973811e-03 1.31033122e+02] [ 9.86982639e-01 1.60708712e-01 -6.16278605e-03 1.02260463e+02] [ 6.25620472e-03 -7.52916075e-05 9.99980427e-01 1.03620282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99185806399998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:131.03, Y:102.29, Z:1.04 [[ 1.60699939e-01 -9.87002784e-01 -1.01649161e-03 1.31034822e+02] [ 9.86983479e-01 1.60703153e-01 -6.17322439e-03 1.02288589e+02] [ 6.25634307e-03 -1.12236392e-05 9.99980429e-01 1.03690700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02185806399999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:131.04, Y:102.32, Z:1.04 [[ 1.62093955e-01 -9.86774801e-01 -1.02048949e-03 1.31040439e+02] [ 9.86755495e-01 1.62097168e-01 -6.17256555e-03 1.02320286e+02] [ 6.25635059e-03 -6.43804583e-06 9.99980429e-01 1.03737705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.051858064 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:131.04, Y:102.34, Z:1.04 [[ 1.60717472e-01 -9.86999857e-01 -1.08518220e-03 1.31040383e+02] [ 9.86980625e-01 1.60721115e-01 -6.16188968e-03 1.02343975e+02] [ 6.25619593e-03 -8.07304732e-05 9.99980427e-01 1.03535658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:102.37, Z:1.03 [[ 1.59029953e-01 -9.87273232e-01 -1.01975413e-03 1.31040647e+02] [ 9.87253935e-01 1.59033221e-01 -6.17264601e-03 1.02367702e+02] [ 6.25626296e-03 -2.51206672e-05 9.99980429e-01 1.03157540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.05, Y:102.40, Z:1.04 [[ 1.62363953e-01 -9.86730468e-01 -9.64879231e-04 1.31045125e+02] [ 9.86711105e-01 1.62366812e-01 -6.18166456e-03 1.02397708e+02] [ 6.25630113e-03 5.16224423e-05 9.99980428e-01 1.03699500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.05, Y:102.42, Z:1.04 [[ 1.62968970e-01 -9.86630673e-01 -1.01470397e-03 1.31048116e+02] [ 9.86611359e-01 1.62972129e-01 -6.17347512e-03 1.02424814e+02] [ 6.25630838e-03 4.96642174e-06 9.99980429e-01 1.03691914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.05, Y:102.45, Z:1.04 [[ 1.62607099e-01 -9.86690371e-01 -1.02167878e-03 1.31052409e+02] [ 9.86671065e-01 1.62610308e-01 -6.17233054e-03 1.02452253e+02] [ 6.25631461e-03 -4.39612817e-06 9.99980429e-01 1.03709527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.06, Y:102.48, Z:1.04 [[ 1.63619451e-01 -9.86523003e-01 -1.01944210e-03 1.31055340e+02] [ 9.86503692e-01 1.63622627e-01 -6.17269675e-03 1.02479602e+02] [ 6.25631113e-03 4.28985310e-06 9.99980429e-01 1.03789659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:102.51, Z:1.04 [[ 1.63996274e-01 -9.86460444e-01 -1.00732703e-03 1.31059184e+02] [ 9.86441119e-01 1.63999367e-01 -6.17467554e-03 1.02507815e+02] [ 6.25627417e-03 1.89549858e-05 9.99980429e-01 1.03923388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:102.53, Z:1.04 [[ 1.58778889e-01 -9.87313632e-01 -1.02757330e-03 1.31055122e+02] [ 9.87294345e-01 1.58782210e-01 -6.17139061e-03 1.02532955e+02] [ 6.25625844e-03 -3.46307602e-05 9.99980429e-01 1.03594850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:102.56, Z:1.04 [[ 1.61943392e-01 -9.86799605e-01 -9.36894097e-04 1.31062440e+02] [ 9.86780218e-01 1.61946084e-01 -6.18604161e-03 1.02563491e+02] [ 6.25610975e-03 7.72800030e-05 9.99980427e-01 1.04026912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321858064 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:131.07, Y:102.59, Z:1.04 [[ 1.61374647e-01 -9.86892712e-01 -9.98963689e-04 1.31065334e+02] [ 9.86873387e-01 1.61377738e-01 -6.17600192e-03 1.02589693e+02] [ 6.25626178e-03 1.07994487e-05 9.99980429e-01 1.04041845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.351858064 meters Centerline goodness : 0.996607 Centerline is valid? [True, True] Translation: X:131.07, Y:102.62, Z:1.04 [[ 1.58428384e-01 -9.87369992e-01 -9.72269555e-04 1.31067626e+02] [ 9.87350650e-01 1.58431366e-01 -6.18030255e-03 1.02616961e+02] [ 6.25628327e-03 1.91643696e-05 9.99980429e-01 1.04040102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:102.64, Z:1.04 [[ 1.54508690e-01 -9.87990937e-01 -9.86532958e-04 1.31068209e+02] [ 9.87971621e-01 1.54511838e-01 -6.17800789e-03 1.02639305e+02] [ 6.25624683e-03 -2.01106630e-05 9.99980429e-01 1.03665189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:102.68, Z:1.04 [[ 1.62029774e-01 -9.86785461e-01 -8.98132810e-04 1.31082587e+02] [ 9.86766037e-01 1.62032221e-01 -6.19251342e-03 1.02675978e+02] [ 6.25620867e-03 1.17124598e-04 9.99980423e-01 1.04200198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:102.70, Z:1.04 [[ 1.59922615e-01 -9.87128958e-01 -1.08520969e-03 1.31082907e+02] [ 9.87109732e-01 1.59926274e-01 -6.16143476e-03 1.02699772e+02] [ 6.25568422e-03 -8.58682901e-05 9.99980429e-01 1.04365589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:102.73, Z:1.04 [[ 1.59225464e-01 -9.87241725e-01 -1.01408256e-03 1.31083948e+02] [ 9.87222424e-01 1.59228693e-01 -6.17320473e-03 1.02727225e+02] [ 6.25591633e-03 -1.81936502e-05 9.99980431e-01 1.04443582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:102.75, Z:1.04 [[ 1.55291132e-01 -9.87868222e-01 -1.01980148e-03 1.31080399e+02] [ 9.87848941e-01 1.55294473e-01 -6.17225983e-03 1.02749764e+02] [ 6.25574888e-03 -4.89125970e-05 9.99980431e-01 1.03880249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:102.78, Z:1.04 [[ 1.61081752e-01 -9.86940644e-01 -9.13236657e-04 1.31089973e+02] [ 9.86921238e-01 1.61084313e-01 -6.18979241e-03 1.02780799e+02] [ 6.25606581e-03 9.57699560e-05 9.99980426e-01 1.04257625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:102.80, Z:1.04 [[ 1.54830333e-01 -9.87940572e-01 -9.97425532e-04 1.31086224e+02] [ 9.87921268e-01 1.54833543e-01 -6.17591043e-03 1.02804369e+02] [ 6.25586741e-03 -2.91596292e-05 9.99980431e-01 1.03822982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.10, Y:102.84, Z:1.04 [[ 1.61228063e-01 -9.86916740e-01 -9.26812775e-04 1.31096389e+02] [ 9.86897347e-01 1.61230706e-01 -6.18761122e-03 1.02837434e+02] [ 6.25608778e-03 8.29475064e-05 9.99980427e-01 1.04204799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:102.86, Z:1.04 [[ 1.57626589e-01 -9.87498238e-01 -1.04306154e-03 1.31093199e+02] [ 9.87478975e-01 1.57630030e-01 -6.16830186e-03 1.02860883e+02] [ 6.25560504e-03 -5.77129553e-05 9.99980432e-01 1.04026411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.10, Y:102.89, Z:1.04 [[ 1.56608716e-01 -9.87660257e-01 -9.62988564e-04 1.31095395e+02] [ 9.87640912e-01 1.56611676e-01 -6.18155724e-03 1.02887928e+02] [ 6.25609366e-03 1.69988397e-05 9.99980430e-01 1.04050218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.10, Y:102.92, Z:1.04 [[ 1.57817388e-01 -9.87467881e-01 -9.24915825e-04 1.31100637e+02] [ 9.87448495e-01 1.57820085e-01 -6.18785334e-03 1.02918226e+02] [ 6.25627673e-03 6.32441094e-05 9.99980427e-01 1.04235053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:102.95, Z:1.05 [[ 1.59900444e-01 -9.87132674e-01 -9.64944708e-04 1.31108007e+02] [ 9.87113322e-01 1.59903351e-01 -6.18123302e-03 1.02948336e+02] [ 6.25599497e-03 3.58721273e-05 9.99980430e-01 1.04631449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:102.97, Z:1.04 [[ 1.56977563e-01 -9.87601641e-01 -1.02166506e-03 1.31106723e+02] [ 9.87582357e-01 1.56980882e-01 -6.17184374e-03 1.02969243e+02] [ 6.25570489e-03 -4.01374009e-05 9.99980432e-01 1.04191913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:103.00, Z:1.05 [[ 1.58519695e-01 -9.87355386e-01 -9.21294923e-04 1.31115971e+02] [ 9.87335995e-01 1.58522356e-01 -6.18841800e-03 1.03002572e+02] [ 6.25621368e-03 7.13584937e-05 9.99980427e-01 1.04721562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:103.02, Z:1.04 [[ 1.55684313e-01 -9.87806333e-01 -1.02179140e-03 1.31113829e+02] [ 9.87787053e-01 1.55687659e-01 -6.17177997e-03 1.03022079e+02] [ 6.25560365e-03 -4.84629899e-05 9.99980432e-01 1.04382435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:103.06, Z:1.05 [[ 1.57821736e-01 -9.87467207e-01 -9.02106670e-04 1.31122652e+02] [ 9.87447800e-01 1.57824291e-01 -6.19155456e-03 1.03056287e+02] [ 6.25633144e-03 8.63786452e-05 9.99980425e-01 1.04822844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.861858064 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:131.13, Y:103.09, Z:1.05 [[ 1.61379747e-01 -9.86891851e-01 -1.02580958e-03 1.31133143e+02] [ 9.86872557e-01 1.61383007e-01 -6.17104044e-03 1.03089201e+02] [ 6.25569775e-03 -1.64623781e-05 9.99980433e-01 1.04668695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:103.11, Z:1.05 [[ 1.57547963e-01 -9.87510666e-01 -1.15091407e-03 1.31130877e+02] [ 9.87491528e-01 1.57552078e-01 -6.15026245e-03 1.03110990e+02] [ 6.25477867e-03 -1.67556570e-04 9.99980425e-01 1.04820335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:103.14, Z:1.05 [[ 1.56334688e-01 -9.87703614e-01 -1.01815303e-03 1.31132304e+02] [ 9.87684329e-01 1.56337999e-01 -6.17216262e-03 1.03135966e+02] [ 6.25544333e-03 -4.06906710e-05 9.99980434e-01 1.04641914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.14, Y:103.17, Z:1.05 [[ 1.57141314e-01 -9.87575655e-01 -9.65742927e-04 1.31138632e+02] [ 9.87556314e-01 1.57144281e-01 -6.18081190e-03 1.03165738e+02] [ 6.25578034e-03 1.75353790e-05 9.99980432e-01 1.04702401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.981858064 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:131.14, Y:103.19, Z:1.05 [[ 1.57503423e-01 -9.87517939e-01 -9.95805228e-04 1.31143196e+02] [ 9.87498627e-01 1.57506570e-01 -6.17586746e-03 1.03193939e+02] [ 6.25562577e-03 -1.06360327e-05 9.99980433e-01 1.04834995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:103.22, Z:1.05 [[ 1.56383920e-01 -9.87695828e-01 -1.01093146e-03 1.31147361e+02] [ 9.87676535e-01 1.56387184e-01 -6.17338186e-03 1.03221753e+02] [ 6.25552023e-03 -3.30556277e-05 9.99980434e-01 1.04714571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:103.25, Z:1.05 [[ 1.57088020e-01 -9.87584069e-01 -1.02983537e-03 1.31152541e+02] [ 9.87564794e-01 1.57091389e-01 -6.17028445e-03 1.03247115e+02] [ 6.25545290e-03 -4.77513889e-05 9.99980433e-01 1.04718825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:103.28, Z:1.05 [[ 1.56148423e-01 -9.87733085e-01 -1.01122335e-03 1.31157496e+02] [ 9.87713794e-01 1.56151693e-01 -6.17332721e-03 1.03275356e+02] [ 6.25550377e-03 -3.48439493e-05 9.99980434e-01 1.04738733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:103.30, Z:1.05 [[ 1.56971785e-01 -9.87602561e-01 -1.01962015e-03 1.31162498e+02] [ 9.87583276e-01 1.56975092e-01 -6.17195664e-03 1.03299740e+02] [ 6.25549515e-03 -3.81367555e-05 9.99980433e-01 1.04743901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:103.33, Z:1.05 [[ 1.55895708e-01 -9.87773028e-01 -9.87001549e-04 1.31167401e+02] [ 9.87753712e-01 1.55898832e-01 -6.17726300e-03 1.03327002e+02] [ 6.25560617e-03 -1.19056546e-05 9.99980433e-01 1.04691842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.17, Y:103.35, Z:1.05 [[ 1.55147065e-01 -9.87890875e-01 -1.00338925e-03 1.31172479e+02] [ 9.87871579e-01 1.55150306e-01 -6.17459996e-03 1.03353537e+02] [ 6.25550711e-03 -3.32486591e-05 9.99980434e-01 1.04788436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:103.38, Z:1.05 [[ 1.51554787e-01 -9.88448363e-01 -9.89986353e-04 1.31179503e+02] [ 9.88429065e-01 1.51558015e-01 -6.17677271e-03 1.03381920e+02] [ 6.25546124e-03 -4.24118111e-05 9.99980434e-01 1.04638540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:103.41, Z:1.05 [[ 1.50661119e-01 -9.88584950e-01 -1.01156223e-03 1.31185878e+02] [ 9.88565678e-01 1.50664499e-01 -6.17328507e-03 1.03409038e+02] [ 6.25522323e-03 -6.99216586e-05 9.99980433e-01 1.04626389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:103.44, Z:1.05 [[ 1.48917839e-01 -9.88849069e-01 -9.98375934e-04 1.31192146e+02] [ 9.88829788e-01 1.48921170e-01 -6.17541240e-03 1.03435332e+02] [ 6.25523012e-03 -6.75947932e-05 9.99980434e-01 1.04582651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:103.47, Z:1.05 [[ 1.48903628e-01 -9.88851212e-01 -9.94657441e-04 1.31201285e+02] [ 9.88831928e-01 1.48906936e-01 -6.17601127e-03 1.03465448e+02] [ 6.25526763e-03 -6.39185515e-05 9.99980434e-01 1.04617773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:103.49, Z:1.05 [[ 1.44601812e-01 -9.89489373e-01 -1.04685844e-03 1.31206920e+02] [ 9.89470162e-01 1.44605529e-01 -6.16760267e-03 1.03488912e+02] [ 6.25415882e-03 -1.43988670e-04 9.99980432e-01 1.04707897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.341858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.21, Y:103.51, Z:1.05 [[ 1.43526248e-01 -9.89646014e-01 -9.91615990e-04 1.31213428e+02] [ 9.89626744e-01 1.43529642e-01 -6.17647171e-03 1.03514888e+02] [ 6.25484689e-03 -9.48438953e-05 9.99980434e-01 1.04723844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:103.54, Z:1.05 [[ 1.44185644e-01 -9.89550161e-01 -9.89761852e-04 1.31219505e+02] [ 9.89530887e-01 1.44189014e-01 -6.17676881e-03 1.03541300e+02] [ 6.25493536e-03 -8.87985326e-05 9.99980434e-01 1.04788483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.401858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:131.23, Y:103.58, Z:1.05 [[ 1.47610070e-01 -9.89045168e-01 -9.60569964e-04 1.31234948e+02] [ 9.89025852e-01 1.47613190e-01 -6.18143844e-03 1.03575415e+02] [ 6.25551462e-03 -3.75859686e-05 9.99980433e-01 1.04911899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:103.60, Z:1.05 [[ 1.48295073e-01 -9.88942562e-01 -1.08687823e-03 1.31241608e+02] [ 9.88923382e-01 1.48298969e-01 -6.16127546e-03 1.03604167e+02] [ 6.25433046e-03 -1.61152500e-04 9.99980429e-01 1.04953839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46185806399998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:131.25, Y:103.63, Z:1.05 [[ 1.49993539e-01 -9.88686368e-01 -1.09693762e-03 1.31248421e+02] [ 9.88667193e-01 1.49997464e-01 -6.15967122e-03 1.03631694e+02] [ 6.25452083e-03 -1.60595350e-04 9.99980427e-01 1.04909365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.26, Y:103.66, Z:1.05 [[ 1.52930639e-01 -9.88236310e-01 -1.10217550e-03 1.31256169e+02] [ 9.88217130e-01 1.52934539e-01 -6.15883782e-03 1.03659363e+02] [ 6.25494787e-03 -1.47313711e-04 9.99980427e-01 1.04965494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52185806399999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:131.25, Y:103.68, Z:1.05 [[ 1.47258260e-01 -9.89097476e-01 -1.08950102e-03 1.31254311e+02] [ 9.89078304e-01 1.47262192e-01 -6.16084717e-03 1.03680431e+02] [ 6.25412070e-03 -1.70366189e-04 9.99980428e-01 1.05080446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.551858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:131.26, Y:103.71, Z:1.05 [[ 1.48175136e-01 -9.88960657e-01 -9.73642224e-04 1.31260673e+02] [ 9.88941354e-01 1.48178327e-01 -6.17910310e-03 1.03707711e+02] [ 6.25516254e-03 -4.72856175e-05 9.99980435e-01 1.05080655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.581858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.27, Y:103.73, Z:1.05 [[ 1.49316649e-01 -9.88788953e-01 -9.71922808e-04 1.31269133e+02] [ 9.88769645e-01 1.49319807e-01 -6.17937354e-03 1.03734805e+02] [ 6.25522362e-03 -3.83244191e-05 9.99980435e-01 1.05062229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.611858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:131.28, Y:103.76, Z:1.05 [[ 1.48994205e-01 -9.88837593e-01 -9.70213425e-04 1.31275523e+02] [ 9.88818284e-01 1.48997359e-01 -6.17964192e-03 1.03762578e+02] [ 6.25522148e-03 -3.86339378e-05 9.99980435e-01 1.05055080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.641858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:131.28, Y:103.79, Z:1.05 [[ 1.48833587e-01 -9.88861783e-01 -9.68506635e-04 1.31282190e+02] [ 9.88842473e-01 1.48836733e-01 -6.17990940e-03 1.03789900e+02] [ 6.25522559e-03 -3.79224142e-05 9.99980435e-01 1.05097707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.671858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:131.29, Y:103.82, Z:1.05 [[ 1.48191336e-01 -9.88958236e-01 -9.66811360e-04 1.31291667e+02] [ 9.88938926e-01 1.48194484e-01 -6.18017461e-03 1.03816510e+02] [ 6.25521069e-03 -4.02690554e-05 9.99980435e-01 1.05242800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.701858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:131.30, Y:103.84, Z:1.05 [[ 1.47934213e-01 -9.88996733e-01 -9.65056676e-04 1.31298296e+02] [ 9.88977422e-01 1.47937356e-01 -6.18044860e-03 1.03843692e+02] [ 6.25521140e-03 -4.01194612e-05 9.99980435e-01 1.05291494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.731858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:131.30, Y:103.87, Z:1.05 [[ 1.47670874e-01 -9.89036089e-01 -9.63317982e-04 1.31304687e+02] [ 9.89016777e-01 1.47674011e-01 -6.18071959e-03 1.03871423e+02] [ 6.25521176e-03 -4.00253798e-05 9.99980435e-01 1.05350035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.761858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.32, Y:103.91, Z:1.05 [[ 1.52660873e-01 -9.88278166e-01 -9.61588505e-04 1.31320740e+02] [ 9.88258837e-01 1.52663901e-01 -6.18098864e-03 1.03905402e+02] [ 6.25533597e-03 -6.70321645e-06 9.99980435e-01 1.05083459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:103.94, Z:1.05 [[ 1.52703569e-01 -9.88271463e-01 -1.06551276e-03 1.31328359e+02] [ 9.88252240e-01 1.52707245e-01 -6.16494928e-03 1.03935387e+02] [ 6.25535496e-03 -1.11585619e-04 9.99980429e-01 1.05152320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.821858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.33, Y:103.96, Z:1.05 [[ 1.52845764e-01 -9.88249455e-01 -1.08983339e-03 1.31334837e+02] [ 9.88230258e-01 1.52849590e-01 -6.16119876e-03 1.03961796e+02] [ 6.25538190e-03 -1.35293198e-04 9.99980426e-01 1.05086676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:103.98, Z:1.05 [[ 1.50304001e-01 -9.88639231e-01 -1.08566738e-03 1.31334202e+02] [ 9.88620039e-01 1.50307850e-01 -6.16184802e-03 1.03981182e+02] [ 6.25502902e-03 -1.47162117e-04 9.99980426e-01 1.05266985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.881858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.34, Y:104.01, Z:1.05 [[ 1.51333444e-01 -9.88482321e-01 -9.43257780e-04 1.31343113e+02] [ 9.88462978e-01 1.51336383e-01 -6.18387376e-03 1.04008591e+02] [ 6.25539911e-03 3.45151630e-06 9.99980435e-01 1.05389691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:104.04, Z:1.05 [[ 1.55752915e-01 -9.87795595e-01 -9.44863312e-04 1.31357424e+02] [ 9.87776240e-01 1.55755778e-01 -6.18362550e-03 1.04042705e+02] [ 6.25532595e-03 2.98041693e-05 9.99980435e-01 1.05200923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.941858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.36, Y:104.06, Z:1.05 [[ 1.51787281e-01 -9.88412596e-01 -1.07803940e-03 1.31357275e+02] [ 9.88393391e-01 1.51791053e-01 -6.16282272e-03 1.04063309e+02] [ 6.25504833e-03 -1.30088916e-04 9.99980429e-01 1.05300699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:104.09, Z:1.05 [[ 1.54856320e-01 -9.87936543e-01 -9.52916008e-04 1.31369548e+02] [ 9.87917199e-01 1.54859251e-01 -6.18222987e-03 1.04093966e+02] [ 6.25521866e-03 1.59552544e-05 9.99980436e-01 1.05097391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.001858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.38, Y:104.12, Z:1.05 [[ 1.52972304e-01 -9.88229943e-01 -1.02650083e-03 1.31379195e+02] [ 9.88210678e-01 1.52975732e-01 -6.17095972e-03 1.04123688e+02] [ 6.25535689e-03 -7.04131592e-05 9.99980433e-01 1.05454479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:104.15, Z:1.05 [[ 1.53950450e-01 -9.88078010e-01 -1.05159942e-03 1.31387830e+02] [ 9.88058767e-01 1.53954016e-01 -6.16709507e-03 1.04152459e+02] [ 6.25546898e-03 -8.96149622e-05 9.99980430e-01 1.05438800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:104.18, Z:1.05 [[ 1.55798683e-01 -9.87788244e-01 -1.07505733e-03 1.31394169e+02] [ 9.87769020e-01 1.55802359e-01 -6.16348351e-03 1.04176240e+02] [ 6.25571302e-03 -1.01645711e-04 9.99980428e-01 1.05371663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:104.20, Z:1.05 [[ 1.56578930e-01 -9.87664890e-01 -1.05022682e-03 1.31401521e+02] [ 9.87645637e-01 1.56582436e-01 -6.16732182e-03 1.04202906e+02] [ 6.25569430e-03 -7.15792850e-05 9.99980430e-01 1.05457854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.41, Y:104.23, Z:1.05 [[ 1.55966679e-01 -9.87761753e-01 -1.05548014e-03 1.31405268e+02] [ 9.87742508e-01 1.55970229e-01 -6.16651405e-03 1.04229541e+02] [ 6.25567021e-03 -8.07718836e-05 9.99980430e-01 1.05474889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.151858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.41, Y:104.26, Z:1.06 [[ 1.54948178e-01 -9.87922061e-01 -1.03120215e-03 1.31410271e+02] [ 9.87902795e-01 1.54951597e-01 -6.17018946e-03 1.04260196e+02] [ 6.25545271e-03 -6.26678687e-05 9.99980433e-01 1.05773479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:104.29, Z:1.06 [[ 1.56285943e-01 -9.87711281e-01 -1.06230711e-03 1.31416080e+02] [ 9.87692042e-01 1.56289530e-01 -6.16553537e-03 1.04287744e+02] [ 6.25579632e-03 -8.56457611e-05 9.99980429e-01 1.05769268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.41, Y:104.31, Z:1.06 [[ 1.52331540e-01 -9.88328884e-01 -1.05791565e-03 1.31411721e+02] [ 9.88309654e-01 1.52335176e-01 -6.16619120e-03 1.04307205e+02] [ 6.25538263e-03 -1.06242847e-04 9.99980429e-01 1.05943411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:104.33, Z:1.06 [[ 1.55244842e-01 -9.87875606e-01 -9.08576758e-04 1.31416520e+02] [ 9.87856225e-01 1.55247488e-01 -6.18831417e-03 1.04334549e+02] [ 6.25433887e-03 6.31606512e-05 9.99980439e-01 1.05972137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.43, Y:104.37, Z:1.06 [[ 1.60399350e-01 -9.87051777e-01 -9.15284304e-04 1.31428747e+02] [ 9.87032388e-01 1.60401937e-01 -6.18732193e-03 1.04366872e+02] [ 6.25402048e-03 8.90271638e-05 9.99980439e-01 1.05925215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.301858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.44, Y:104.40, Z:1.06 [[ 1.61781312e-01 -9.86826110e-01 -1.01784700e-03 1.31435028e+02] [ 9.86806808e-01 1.61784513e-01 -6.17212667e-03 1.04396533e+02] [ 6.25548763e-03 -5.88360523e-06 9.99980434e-01 1.05807799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.44, Y:104.42, Z:1.06 [[ 1.60236852e-01 -9.87078039e-01 -1.04673166e-03 1.31437867e+02] [ 9.87058770e-01 1.60240264e-01 -6.16785713e-03 1.04423649e+02] [ 6.25588489e-03 -4.48676577e-05 9.99980431e-01 1.05893724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.361858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.44, Y:104.45, Z:1.06 [[ 1.60206454e-01 -9.87083000e-01 -1.02118086e-03 1.31443824e+02] [ 9.87063707e-01 1.60209707e-01 -6.17161551e-03 1.04453120e+02] [ 6.25549984e-03 -1.92379329e-05 9.99980434e-01 1.05661910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.45, Y:104.48, Z:1.06 [[ 1.59462930e-01 -9.87203356e-01 -1.05223854e-03 1.31447965e+02] [ 9.87184095e-01 1.59466393e-01 -6.16704797e-03 1.04480683e+02] [ 6.25592714e-03 -5.53376061e-05 9.99980430e-01 1.05607408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:104.51, Z:1.06 [[ 1.54827912e-01 -9.87940895e-01 -1.05136819e-03 1.31449510e+02] [ 9.87921649e-01 1.54831459e-01 -6.16717530e-03 1.04507072e+02] [ 6.25558956e-03 -8.38185184e-05 9.99980430e-01 1.05979984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:104.53, Z:1.06 [[ 1.53160959e-01 -9.88200735e-01 -1.01388217e-03 1.31453410e+02] [ 9.88181458e-01 1.53164305e-01 -6.17263425e-03 1.04533791e+02] [ 6.25509226e-03 -5.64929790e-05 9.99980435e-01 1.05954160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.46, Y:104.56, Z:1.06 [[ 1.51462639e-01 -9.88462461e-01 -1.01571155e-03 1.31457505e+02] [ 9.88443192e-01 1.51466029e-01 -6.17236813e-03 1.04560760e+02] [ 6.25499998e-03 -6.90900017e-05 9.99980435e-01 1.05911038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:104.58, Z:1.06 [[ 1.45086454e-01 -9.89418465e-01 -1.01094787e-03 1.31453581e+02] [ 9.89399213e-01 1.45089938e-01 -6.17306195e-03 1.04581170e+02] [ 6.25441984e-03 -1.04603357e-04 9.99980435e-01 1.06123501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.46, Y:104.61, Z:1.06 [[ 1.44634500e-01 -9.89484743e-01 -8.96678236e-04 1.31463683e+02] [ 9.89465384e-01 1.44637279e-01 -6.18958820e-03 1.04612719e+02] [ 6.25419619e-03 7.99591990e-06 9.99980442e-01 1.05928264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.571858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.46, Y:104.64, Z:1.06 [[ 1.36930892e-01 -9.90580111e-01 -9.87382454e-04 1.31460388e+02] [ 9.90560864e-01 1.36934388e-01 -6.17646014e-03 1.04635587e+02] [ 6.25348518e-03 -1.32314220e-04 9.99980438e-01 1.06379921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.46, Y:104.66, Z:1.06 [[ 1.33720971e-01 -9.91018622e-01 -8.90308097e-04 1.31463777e+02] [ 9.90999289e-01 1.33723924e-01 -6.19042143e-03 1.04662164e+02] [ 6.25387841e-03 -5.45055239e-05 9.99980443e-01 1.06403985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:104.70, Z:1.06 [[ 1.36330218e-01 -9.90663051e-01 -8.89051685e-04 1.31475874e+02] [ 9.90643709e-01 1.36333112e-01 -6.19060187e-03 1.04696187e+02] [ 6.25400772e-03 -3.67673578e-05 9.99980443e-01 1.06060033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.661858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.48, Y:104.73, Z:1.06 [[ 1.31300740e-01 -9.91342061e-01 -1.01692510e-03 1.31479992e+02] [ 9.91322865e-01 1.31304529e-01 -6.17234387e-03 1.04726919e+02] [ 6.25243096e-03 -1.97667784e-04 9.99980434e-01 1.06145046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.691858064 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:131.48, Y:104.75, Z:1.06 [[ 1.28130123e-01 -9.91756799e-01 -1.06019254e-03 1.31481413e+02] [ 9.91737664e-01 1.28134242e-01 -6.16617689e-03 1.04750997e+02] [ 6.25119482e-03 -2.61359871e-04 9.99980427e-01 1.06183528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.721858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.47, Y:104.77, Z:1.06 [[ 1.18930101e-01 -9.92902101e-01 -1.02417996e-03 1.31474497e+02] [ 9.92882962e-01 1.18934174e-01 -6.17133748e-03 1.04770717e+02] [ 6.24934395e-03 -2.82933042e-04 9.99980433e-01 1.06497330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:104.80, Z:1.07 [[ 1.17388157e-01 -9.93085720e-01 -8.79775029e-04 1.31477297e+02] [ 9.93066427e-01 1.17391362e-01 -6.19185545e-03 1.04798530e+02] [ 6.25232121e-03 -1.46824547e-04 9.99980443e-01 1.06522735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.781858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.49, Y:104.83, Z:1.06 [[ 1.20586721e-01 -9.92702409e-01 -8.78060790e-04 1.31487081e+02] [ 9.92683104e-01 1.20589853e-01 -6.19209853e-03 1.04831430e+02] [ 6.25279635e-03 -1.24951255e-04 9.99980443e-01 1.06313156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:104.85, Z:1.07 [[ 1.15946860e-01 -9.93254931e-01 -9.83335005e-04 1.31482257e+02] [ 9.93235757e-01 1.15950738e-01 -6.17712532e-03 1.04853693e+02] [ 6.24947860e-03 -2.60465200e-04 9.99980438e-01 1.06539470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.49, Y:104.88, Z:1.06 [[ 1.18852177e-01 -9.92911574e-01 -8.75605851e-04 1.31489215e+02] [ 9.92892273e-01 1.18855327e-01 -6.19235837e-03 1.04884640e+02] [ 6.25253472e-03 -1.33407011e-04 9.99980444e-01 1.06487538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.49, Y:104.91, Z:1.07 [[ 1.17960496e-01 -9.93017844e-01 -9.39449328e-04 1.31489341e+02] [ 9.92998614e-01 1.17964061e-01 -6.18333732e-03 1.04911530e+02] [ 6.25098555e-03 -2.03482343e-04 9.99980442e-01 1.06618857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.49, Y:104.94, Z:1.06 [[ 1.21453688e-01 -9.92596680e-01 -9.11977702e-04 1.31490834e+02] [ 9.92577409e-01 1.21457014e-01 -6.18720802e-03 1.04939744e+02] [ 6.25216823e-03 -1.53749234e-04 9.99980443e-01 1.06445153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.49, Y:104.97, Z:1.06 [[ 1.22968511e-01 -9.92410133e-01 -9.34397444e-04 1.31493380e+02] [ 9.92390879e-01 1.22971947e-01 -6.18404910e-03 1.04967256e+02] [ 6.25201766e-03 -1.66844194e-04 9.99980442e-01 1.06340560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96185806399998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:131.50, Y:105.00, Z:1.06 [[ 1.24391810e-01 -9.92232739e-01 -9.32539969e-04 1.31496682e+02] [ 9.92213478e-01 1.24395208e-01 -6.18430976e-03 1.04997093e+02] [ 6.25227812e-03 -1.56001239e-04 9.99980442e-01 1.06422331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99185806399998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:131.49, Y:105.02, Z:1.07 [[ 1.21818358e-01 -9.92551959e-01 -9.46915878e-04 1.31493386e+02] [ 9.92532722e-01 1.21821895e-01 -6.18229497e-03 1.05019520e+02] [ 6.25160407e-03 -1.86727974e-04 9.99980441e-01 1.06530410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.50, Y:105.05, Z:1.06 [[ 1.29413701e-01 -9.91590313e-01 -8.63593302e-04 1.31502065e+02] [ 9.91570969e-01 1.29416571e-01 -6.19391234e-03 1.05052778e+02] [ 6.25358675e-03 -5.47369261e-05 9.99980445e-01 1.06418267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.051858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:131.50, Y:105.08, Z:1.06 [[ 1.30559543e-01 -9.91439996e-01 -9.69219522e-04 1.31504330e+02] [ 9.91420752e-01 1.30563050e-01 -6.17914288e-03 1.05079604e+02] [ 6.25279365e-03 -1.54158276e-04 9.99980439e-01 1.06231746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.081858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.50, Y:105.10, Z:1.06 [[ 1.29134479e-01 -9.91626606e-01 -9.79891818e-04 1.31499898e+02] [ 9.91607379e-01 1.29138080e-01 -6.17763119e-03 1.05100105e+02] [ 6.25244480e-03 -1.73922769e-04 9.99980438e-01 1.06248916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.111858064 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:131.51, Y:105.14, Z:1.06 [[ 1.35442768e-01 -9.90784787e-01 -8.72948402e-04 1.31511035e+02] [ 9.90765434e-01 1.35445578e-01 -6.19267810e-03 1.05135086e+02] [ 6.25384826e-03 -2.61336422e-05 9.99980444e-01 1.05691134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.141858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.50, Y:105.15, Z:1.06 [[ 1.33763608e-01 -9.91012727e-01 -1.03517551e-03 1.31502783e+02] [ 9.90993542e-01 1.33767463e-01 -6.16972607e-03 1.05152961e+02] [ 6.25274986e-03 -2.00567422e-04 9.99980431e-01 1.06094212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.171858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.51, Y:105.19, Z:1.06 [[ 1.40047018e-01 -9.90144477e-01 -8.64959900e-04 1.31512825e+02] [ 9.90125105e-01 1.40049688e-01 -6.19359266e-03 1.05185889e+02] [ 6.25368893e-03 1.09756693e-05 9.99980445e-01 1.05880295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.201858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:131.51, Y:105.21, Z:1.06 [[ 1.37063911e-01 -9.90561743e-01 -9.57514034e-04 1.31511723e+02] [ 9.90542466e-01 1.37067218e-01 -6.18073697e-03 1.05213927e+02] [ 6.25364537e-03 -1.01302330e-04 9.99980441e-01 1.06467931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.231858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.51, Y:105.24, Z:1.06 [[ 1.34770491e-01 -9.90876403e-01 -9.31769736e-04 1.31506420e+02] [ 9.90857108e-01 1.34773682e-01 -6.18427263e-03 1.05237134e+02] [ 6.25342786e-03 -8.97932055e-05 9.99980443e-01 1.06420130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.52, Y:105.27, Z:1.06 [[ 1.41329426e-01 -9.89962261e-01 -8.46113134e-04 1.31518021e+02] [ 9.89942872e-01 1.41331953e-01 -6.19596980e-03 1.05271825e+02] [ 6.25335909e-03 3.80691870e-05 9.99980447e-01 1.06080008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.51, Y:105.29, Z:1.06 [[ 1.35399133e-01 -9.90790638e-01 -9.92820472e-04 1.31511266e+02] [ 9.90771401e-01 1.35402692e-01 -6.17583894e-03 1.05292165e+02] [ 6.25339398e-03 -1.47454895e-04 9.99980436e-01 1.06423197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321858064 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:131.51, Y:105.32, Z:1.06 [[ 1.35608376e-01 -9.90762160e-01 -8.42891375e-04 1.31513369e+02] [ 9.90742784e-01 1.35610995e-01 -6.19623430e-03 1.05319097e+02] [ 6.25329982e-03 5.17272318e-06 9.99980448e-01 1.06142168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.351858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:131.52, Y:105.35, Z:1.06 [[ 1.33627632e-01 -9.91031265e-01 -8.29766671e-04 1.31516972e+02] [ 9.91011883e-01 1.33630208e-01 -6.19801505e-03 1.05346629e+02] [ 6.25330859e-03 5.91744220e-06 9.99980448e-01 1.06358711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381858064 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:131.52, Y:105.37, Z:1.07 [[ 1.32178629e-01 -9.91225558e-01 -8.39084002e-04 1.31520539e+02] [ 9.91206188e-01 1.32181292e-01 -6.19675342e-03 1.05374783e+02] [ 6.25329157e-03 -1.26268843e-05 9.99980448e-01 1.06524170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.411858064 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:131.52, Y:105.40, Z:1.07 [[ 1.29934067e-01 -9.91522283e-01 -8.37320919e-04 1.31523603e+02] [ 9.91502917e-01 1.29936762e-01 -6.19699164e-03 1.05402131e+02] [ 6.25325407e-03 -2.50058060e-05 9.99980448e-01 1.06513511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:131.53, Y:105.43, Z:1.07 [[ 1.28574828e-01 -9.91699458e-01 -8.35462664e-04 1.31527302e+02] [ 9.91680095e-01 1.28577539e-01 -6.19724216e-03 1.05430433e+02] [ 6.25322343e-03 -3.17023477e-05 9.99980448e-01 1.06724601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.471858064 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:131.53, Y:105.46, Z:1.07 [[ 1.28894540e-01 -9.91657953e-01 -8.37673876e-04 1.31531778e+02] [ 9.91638591e-01 1.28897258e-01 -6.19694435e-03 1.05457210e+02] [ 6.25322301e-03 -3.19174519e-05 9.99980448e-01 1.06512670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501858064 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:131.53, Y:105.48, Z:1.06 [[ 1.26037116e-01 -9.92025176e-01 -8.33886566e-04 1.31534393e+02] [ 9.92005818e-01 1.26039866e-01 -6.19745338e-03 1.05484464e+02] [ 6.25313273e-03 -4.61111742e-05 9.99980448e-01 1.06455428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.531858064 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:131.54, Y:105.51, Z:1.07 [[ 1.23750438e-01 -9.92313024e-01 -8.31076368e-04 1.31540181e+02] [ 9.92293671e-01 1.23753215e-01 -6.19783020e-03 1.05513279e+02] [ 6.25303600e-03 -5.76876178e-05 9.99980448e-01 1.06676793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561858064 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:131.54, Y:105.54, Z:1.06 [[ 1.22812821e-01 -9.92429498e-01 -8.38177637e-04 1.31543403e+02] [ 9.92410153e-01 1.22815660e-01 -6.19687934e-03 1.05538854e+02] [ 6.25290719e-03 -7.07597665e-05 9.99980448e-01 1.06401403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.591858064 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:131.55, Y:105.57, Z:1.07 [[ 1.20853993e-01 -9.92669962e-01 -8.11746064e-04 1.31547702e+02] [ 9.92650599e-01 1.20856706e-01 -6.20040996e-03 1.05567826e+02] [ 6.25306568e-03 -5.64359132e-05 9.99980448e-01 1.06569725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621858064 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:131.55, Y:105.60, Z:1.07 [[ 1.18922752e-01 -9.92903165e-01 -8.27147259e-04 1.31552049e+02] [ 9.92883821e-01 1.18925598e-01 -6.19835473e-03 1.05595438e+02] [ 6.25273501e-03 -8.41357312e-05 9.99980448e-01 1.06569721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.651858064 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:131.56, Y:105.62, Z:1.07 [[ 1.18122070e-01 -9.92998741e-01 -8.22335992e-04 1.31556459e+02] [ 9.92979396e-01 1.18124902e-01 -6.19899571e-03 1.05623477e+02] [ 6.25273329e-03 -8.43244940e-05 9.99980448e-01 1.06578428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.681858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:131.56, Y:105.65, Z:1.06 [[ 1.17572675e-01 -9.93063938e-01 -8.24932401e-04 1.31560754e+02] [ 9.93044596e-01 1.17575534e-01 -6.19865017e-03 1.05650123e+02] [ 6.25264782e-03 -9.04027808e-05 9.99980448e-01 1.06469795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71185806399998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:131.57, Y:105.68, Z:1.07 [[ 1.21094240e-01 -9.92640674e-01 -8.23118578e-04 1.31571679e+02] [ 9.92621320e-01 1.21097020e-01 -6.19889102e-03 1.05682186e+02] [ 6.25294856e-03 -6.63950514e-05 9.99980448e-01 1.06579839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74185806399998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:131.57, Y:105.71, Z:1.07 [[ 1.19999725e-01 -9.92773499e-01 -9.19587989e-04 1.31574991e+02] [ 9.92754241e-01 1.20003127e-01 -6.18604378e-03 1.05709240e+02] [ 6.25169376e-03 -1.70601326e-04 9.99980443e-01 1.06587968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77185806399999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:131.57, Y:105.73, Z:1.07 [[ 1.17420432e-01 -9.93081882e-01 -9.04725564e-04 1.31574230e+02] [ 9.93062617e-01 1.17423792e-01 -6.18801517e-03 1.05731625e+02] [ 6.25144206e-03 -1.71849722e-04 9.99980445e-01 1.06513587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.801858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:131.58, Y:105.76, Z:1.07 [[ 1.17612973e-01 -9.93059171e-01 -8.19444690e-04 1.31578461e+02] [ 9.93039825e-01 1.17615797e-01 -6.19926971e-03 1.05757805e+02] [ 6.25262128e-03 -8.46266690e-05 9.99980449e-01 1.06519471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.831858064 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:131.58, Y:105.78, Z:1.07 [[ 1.17204850e-01 -9.93107425e-01 -8.16220840e-04 1.31582254e+02] [ 9.93088077e-01 1.17207662e-01 -6.19969415e-03 1.05783821e+02] [ 6.25262962e-03 -8.39449594e-05 9.99980449e-01 1.06739940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.861858064 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:131.59, Y:105.82, Z:1.07 [[ 1.22203167e-01 -9.92504772e-01 -8.14074043e-04 1.31594676e+02] [ 9.92485409e-01 1.22205868e-01 -6.19997603e-03 1.05817262e+02] [ 6.25299042e-03 -5.02999040e-05 9.99980449e-01 1.06927735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.891858064 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:131.59, Y:105.84, Z:1.07 [[ 1.18963544e-01 -9.92898179e-01 -9.38975130e-04 1.31592695e+02] [ 9.92878944e-01 1.18967087e-01 -6.18350764e-03 1.05838574e+02] [ 6.25130061e-03 -1.96676653e-04 9.99980441e-01 1.06975256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.921858064 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:131.60, Y:105.87, Z:1.07 [[ 1.19612815e-01 -9.92820284e-01 -8.11589498e-04 1.31596975e+02] [ 9.92800926e-01 1.19615551e-01 -6.20018218e-03 1.05866356e+02] [ 6.25274536e-03 -6.41255631e-05 9.99980449e-01 1.06996273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.951858064 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:131.60, Y:105.89, Z:1.07 [[ 1.20905498e-01 -9.92663692e-01 -8.09914993e-04 1.31601002e+02] [ 9.92644328e-01 1.20908198e-01 -6.20040091e-03 1.05893185e+02] [ 6.25283822e-03 -5.42949673e-05 9.99980449e-01 1.06987912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.981858064 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:131.60, Y:105.92, Z:1.07 [[ 1.20639133e-01 -9.92696100e-01 -8.08042162e-04 1.31604612e+02] [ 9.92676736e-01 1.20641827e-01 -6.20064497e-03 1.05921537e+02] [ 6.25283976e-03 -5.40842213e-05 9.99980449e-01 1.07005713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.011858064 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:131.61, Y:105.95, Z:1.07 [[ 1.20934067e-01 -9.92660214e-01 -8.06378261e-04 1.31608576e+02] [ 9.92640848e-01 1.20936745e-01 -6.20086135e-03 1.05948848e+02] [ 6.25286912e-03 -5.05486200e-05 9.99980449e-01 1.07071319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.041858064 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:131.61, Y:105.98, Z:1.07 [[ 1.21291451e-01 -9.92616611e-01 -8.04667879e-04 1.31612922e+02] [ 9.92597242e-01 1.21294112e-01 -6.20108329e-03 1.05976380e+02] [ 6.25289976e-03 -4.65727246e-05 9.99980449e-01 1.07088655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.071858064 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:131.62, Y:106.00, Z:1.07 [[ 1.21563556e-01 -9.92583325e-01 -8.02965394e-04 1.31616923e+02] [ 9.92563954e-01 1.21566200e-01 -6.20130373e-03 1.06002895e+02] [ 6.25292413e-03 -4.31419730e-05 9.99980449e-01 1.07133046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.101858064 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:131.62, Y:106.03, Z:1.07 [[ 1.22982934e-01 -9.92408462e-01 -8.01172021e-04 1.31621565e+02] [ 9.92389086e-01 1.22985539e-01 -6.20153542e-03 1.06029901e+02] [ 6.25298880e-03 -3.23913506e-05 9.99980449e-01 1.07232409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.131858064 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:131.63, Y:106.06, Z:1.07 [[ 1.23611361e-01 -9.92330377e-01 -8.08409760e-04 1.31625813e+02] [ 9.92311006e-01 1.23613999e-01 -6.20060203e-03 1.06056980e+02] [ 6.25297652e-03 -3.57290477e-05 9.99980449e-01 1.07274792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:131.63, Y:106.09, Z:1.07 [[ 1.23978453e-01 -9.92284590e-01 -7.97531523e-04 1.31630096e+02] [ 9.92265208e-01 1.23981016e-01 -6.20200090e-03 1.06085313e+02] [ 6.25302868e-03 -2.24483042e-05 9.99980449e-01 1.07430063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.191858064 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:131.63, Y:106.11, Z:1.07 [[ 1.24949557e-01 -9.92162770e-01 -8.03870568e-04 1.31634074e+02] [ 9.92143391e-01 1.24952140e-01 -6.20118675e-03 1.06111912e+02] [ 6.25303197e-03 -2.27193364e-05 9.99980449e-01 1.07387053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.221858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:131.64, Y:106.14, Z:1.08 [[ 1.25413789e-01 -9.92104203e-01 -7.95366510e-04 1.31637469e+02] [ 9.92084815e-01 1.25416310e-01 -6.20227729e-03 1.06139671e+02] [ 6.25305730e-03 -1.12199447e-05 9.99980449e-01 1.07514007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.251858064 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:131.64, Y:106.17, Z:1.07 [[ 1.26069964e-01 -9.92021035e-01 -7.93662062e-04 1.31641304e+02] [ 9.92001645e-01 1.26072463e-01 -6.20249539e-03 1.06167072e+02] [ 6.25306483e-03 -5.36569770e-06 9.99980449e-01 1.07465244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.281858064 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:131.65, Y:106.20, Z:1.08 [[ 1.26157221e-01 -9.92009944e-01 -7.91961420e-04 1.31645781e+02] [ 9.91990552e-01 1.26159707e-01 -6.20271253e-03 1.06195282e+02] [ 6.25306612e-03 -3.10127175e-06 9.99980449e-01 1.07506960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.311858064 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:131.65, Y:106.22, Z:1.08 [[ 1.25940167e-01 -9.92037524e-01 -7.90896832e-04 1.31650770e+02] [ 9.92018132e-01 1.25942650e-01 -6.20284827e-03 1.06222320e+02] [ 6.25306588e-03 -3.39625208e-06 9.99980449e-01 1.07574523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.341858064 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:131.65, Y:106.25, Z:1.08 [[ 1.25614545e-01 -9.92078809e-01 -7.89649185e-04 1.31654267e+02] [ 9.92059416e-01 1.25617027e-01 -6.20300709e-03 1.06249193e+02] [ 6.25306527e-03 -4.19099741e-06 9.99980449e-01 1.07593957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.371858064 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:131.66, Y:106.28, Z:1.08 [[ 1.25017267e-01 -9.92154253e-01 -7.88417061e-04 1.31657775e+02] [ 9.92134861e-01 1.25019753e-01 -6.20316370e-03 1.06276702e+02] [ 6.25306295e-03 -6.71347937e-06 9.99980449e-01 1.07716330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401858064 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:131.66, Y:106.30, Z:1.08 [[ 1.24200680e-01 -9.92256808e-01 -7.86711771e-04 1.31660918e+02] [ 9.92237416e-01 1.24203171e-01 -6.20337996e-03 1.06304284e+02] [ 6.25305809e-03 -1.01408469e-05 9.99980449e-01 1.07826685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.431858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:131.67, Y:106.33, Z:1.08 [[ 1.23356674e-01 -9.92362089e-01 -7.84972169e-04 1.31665177e+02] [ 9.92342698e-01 1.23359171e-01 -6.20360008e-03 1.06331947e+02] [ 6.25305105e-03 -1.37059250e-05 9.99980449e-01 1.07939642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46185806399998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:131.67, Y:106.36, Z:1.08 [[ 1.22722382e-01 -9.92440730e-01 -7.83239467e-04 1.31668750e+02] [ 9.92421340e-01 1.22724881e-01 -6.20381884e-03 1.06358326e+02] [ 6.25304547e-03 -1.59561331e-05 9.99980449e-01 1.07950284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49185806399998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:131.67, Y:106.39, Z:1.08 [[ 1.22213638e-01 -9.92503509e-01 -7.81411199e-04 1.31672645e+02] [ 9.92484119e-01 1.22216135e-01 -6.20404911e-03 1.06385657e+02] [ 6.25304157e-03 -1.73187904e-05 9.99980449e-01 1.08013174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52185806399999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:131.68, Y:106.41, Z:1.08 [[ 1.21380598e-01 -9.92605734e-01 -7.79708499e-04 1.31676675e+02] [ 9.92586344e-01 1.21383101e-01 -6.20426309e-03 1.06413070e+02] [ 6.25303056e-03 -2.08508409e-05 9.99980449e-01 1.08103141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.551858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.68, Y:106.44, Z:1.08 [[ 1.20617774e-01 -9.92698719e-01 -7.77964201e-04 1.31679835e+02] [ 9.92679330e-01 1.20620281e-01 -6.20448181e-03 1.06440495e+02] [ 6.25301940e-03 -2.38981961e-05 9.99980449e-01 1.08090179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.68, Y:106.47, Z:1.08 [[ 1.19973006e-01 -9.92776851e-01 -7.76214059e-04 1.31683247e+02] [ 9.92757462e-01 1.19975515e-01 -6.20470075e-03 1.06468467e+02] [ 6.25300995e-03 -2.61956964e-05 9.99980449e-01 1.08059225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:106.50, Z:1.08 [[ 1.18528597e-01 -9.92950337e-01 -7.74470497e-04 1.31687210e+02] [ 9.92930950e-01 1.18531123e-01 -6.20491838e-03 1.06496684e+02] [ 6.25297465e-03 -3.35354556e-05 9.99980449e-01 1.08078070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.641858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.69, Y:106.52, Z:1.08 [[ 1.17579722e-01 -9.93063146e-01 -7.72734688e-04 1.31690724e+02] [ 9.93043760e-01 1.17582255e-01 -6.20513454e-03 1.06524005e+02] [ 6.25295031e-03 -3.77613653e-05 9.99980449e-01 1.08127847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.671858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.69, Y:106.55, Z:1.08 [[ 1.15479962e-01 -9.93309511e-01 -7.70897692e-04 1.31694640e+02] [ 9.93290129e-01 1.15482525e-01 -6.20536275e-03 1.06550426e+02] [ 6.25287105e-03 -4.91300125e-05 9.99980449e-01 1.08197522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:106.58, Z:1.08 [[ 1.14797976e-01 -9.93388561e-01 -7.69081909e-04 1.31698584e+02] [ 9.93369179e-01 1.14800540e-01 -6.20558779e-03 1.06578221e+02] [ 6.25285094e-03 -5.15933498e-05 9.99980449e-01 1.08178197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:106.61, Z:1.08 [[ 1.13032423e-01 -9.93591014e-01 -7.54256236e-04 1.31702524e+02] [ 9.93571624e-01 1.13034930e-01 -6.20742160e-03 1.06607139e+02] [ 6.25289563e-03 -4.77676869e-05 9.99980449e-01 1.08252114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.71, Y:106.63, Z:1.08 [[ 1.11802212e-01 -9.93730183e-01 -7.67057814e-04 1.31706430e+02] [ 9.93710808e-01 1.11804822e-01 -6.20583930e-03 1.06634696e+02] [ 6.25269058e-03 -6.84070780e-05 9.99980449e-01 1.08349939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:106.66, Z:1.08 [[ 1.09961791e-01 -9.93935521e-01 -7.65304929e-04 1.31709941e+02] [ 9.93916148e-01 1.09964426e-01 -6.20605546e-03 1.06661418e+02] [ 6.25257528e-03 -7.82199557e-05 9.99980449e-01 1.08269195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.821858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.71, Y:106.69, Z:1.08 [[ 1.09021596e-01 -9.94039088e-01 -7.64030533e-04 1.31713064e+02] [ 9.94019717e-01 1.09024242e-01 -6.20621234e-03 1.06689525e+02] [ 6.25251551e-03 -8.28502393e-05 9.99980449e-01 1.08308094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:106.72, Z:1.08 [[ 1.08363420e-01 -9.94111054e-01 -7.62336527e-04 1.31716012e+02] [ 9.94091684e-01 1.08366068e-01 -6.20642042e-03 1.06717480e+02] [ 6.25248256e-03 -8.52834594e-05 9.99980449e-01 1.08283638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:106.75, Z:1.08 [[ 1.07633345e-01 -9.94190366e-01 -7.60648661e-04 1.31718230e+02] [ 9.94170996e-01 1.07635997e-01 -6.20662727e-03 1.06745104e+02] [ 6.25244222e-03 -8.81747815e-05 9.99980449e-01 1.08230633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:106.77, Z:1.08 [[ 1.07454413e-01 -9.94209723e-01 -7.58957553e-04 1.31721177e+02] [ 9.94190352e-01 1.07457058e-01 -6.20683406e-03 1.06773115e+02] [ 6.25245011e-03 -8.75965652e-05 9.99980449e-01 1.08190508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.941858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.72, Y:106.80, Z:1.08 [[ 1.07142886e-01 -9.94243345e-01 -7.57276523e-04 1.31723638e+02] [ 9.94223973e-01 1.07145526e-01 -6.20703915e-03 1.06800681e+02] [ 6.25244616e-03 -8.78623864e-05 9.99980449e-01 1.08159395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:106.83, Z:1.08 [[ 1.06948851e-01 -9.94264237e-01 -7.55598006e-04 1.31725852e+02] [ 9.94244864e-01 1.06951485e-01 -6.20724347e-03 1.06826662e+02] [ 6.25245252e-03 -8.73918781e-05 9.99980449e-01 1.08085099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:106.85, Z:1.08 [[ 1.06481988e-01 -9.94314346e-01 -7.53617896e-04 1.31727802e+02] [ 9.94294973e-01 1.06484619e-01 -6.20748387e-03 1.06853228e+02] [ 6.25243897e-03 -8.83332599e-05 9.99980449e-01 1.07971765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:106.88, Z:1.08 [[ 1.06304236e-01 -9.94333367e-01 -7.51656813e-04 1.31730695e+02] [ 9.94313993e-01 1.06306858e-01 -6.20772132e-03 1.06879740e+02] [ 6.25245072e-03 -8.74758116e-05 9.99980449e-01 1.07945156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.061858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.73, Y:106.91, Z:1.08 [[ 1.05917432e-01 -9.94374646e-01 -7.49718316e-04 1.31733392e+02] [ 9.94355271e-01 1.05920048e-01 -6.20795543e-03 1.06905754e+02] [ 6.25244368e-03 -8.79556649e-05 9.99980449e-01 1.07983238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:106.93, Z:1.08 [[ 1.05540336e-01 -9.94414742e-01 -7.47795214e-04 1.31736571e+02] [ 9.94395366e-01 1.05542948e-01 -6.20818707e-03 1.06933722e+02] [ 6.25243726e-03 -8.83899474e-05 9.99980449e-01 1.08175060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:106.96, Z:1.08 [[ 1.05078443e-01 -9.94463657e-01 -7.46071465e-04 1.31739712e+02] [ 9.94444281e-01 1.05081054e-01 -6.20839422e-03 1.06961380e+02] [ 6.25242039e-03 -8.95581007e-05 9.99980449e-01 1.08085100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.151858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.74, Y:106.99, Z:1.08 [[ 1.04544532e-01 -9.94519928e-01 -7.44542235e-04 1.31742920e+02] [ 9.94500552e-01 1.04547143e-01 -6.20857761e-03 1.06989585e+02] [ 6.25239392e-03 -9.13748240e-05 9.99980449e-01 1.08270972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:107.02, Z:1.08 [[ 1.03868731e-01 -9.94590737e-01 -7.42790509e-04 1.31745806e+02] [ 9.94571362e-01 1.03871344e-01 -6.20878718e-03 1.07017272e+02] [ 6.25235686e-03 -9.38593244e-05 9.99980449e-01 1.08289590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:107.04, Z:1.08 [[ 1.03321153e-01 -9.94647772e-01 -7.41047686e-04 1.31748637e+02] [ 9.94628397e-01 1.03323767e-01 -6.20899518e-03 1.07043961e+02] [ 6.25233106e-03 -9.55465285e-05 9.99980449e-01 1.08339747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:107.07, Z:1.08 [[ 1.02827983e-01 -9.94698879e-01 -7.39210597e-04 1.31751915e+02] [ 9.94679503e-01 1.02830595e-01 -6.20921389e-03 1.07071883e+02] [ 6.25231156e-03 -9.67966867e-05 9.99980449e-01 1.08353586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:107.10, Z:1.08 [[ 1.02753683e-01 -9.94706558e-01 -7.37493393e-04 1.31755300e+02] [ 9.94687182e-01 1.02756285e-01 -6.20941784e-03 1.07098891e+02] [ 6.25233073e-03 -9.55346739e-05 9.99980449e-01 1.08326137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:107.13, Z:1.08 [[ 1.01542482e-01 -9.94830932e-01 -7.35682664e-04 1.31756855e+02] [ 9.94811557e-01 1.01545096e-01 -6.20963237e-03 1.07125354e+02] [ 6.25223932e-03 -1.01324135e-04 9.99980449e-01 1.08216954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.331858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.76, Y:107.16, Z:1.08 [[ 1.02625396e-01 -9.94719824e-01 -7.07582635e-04 1.31761785e+02] [ 9.94700423e-01 1.02627814e-01 -6.21295468e-03 1.07155344e+02] [ 6.25276685e-03 -6.62258087e-05 9.99980449e-01 1.08373171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.361858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.77, Y:107.18, Z:1.08 [[ 1.02849104e-01 -9.94696699e-01 -7.33881649e-04 1.31765223e+02] [ 9.94677319e-01 1.02851681e-01 -6.20984666e-03 1.07183365e+02] [ 6.25239494e-03 -9.12982688e-05 9.99980449e-01 1.08367901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.391858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.77, Y:107.21, Z:1.08 [[ 1.03198680e-01 -9.94660493e-01 -7.32106971e-04 1.31768475e+02] [ 9.94641111e-01 1.03201240e-01 -6.21005588e-03 1.07210267e+02] [ 6.25245159e-03 -8.73141212e-05 9.99980449e-01 1.08326629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:107.24, Z:1.08 [[ 1.03280732e-01 -9.94651978e-01 -7.30235682e-04 1.31771646e+02] [ 9.94632594e-01 1.03283279e-01 -6.21027591e-03 1.07237057e+02] [ 6.25248436e-03 -8.49143667e-05 9.99980449e-01 1.08310109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:107.27, Z:1.08 [[ 1.03371728e-01 -9.94642526e-01 -7.28390856e-04 1.31774805e+02] [ 9.94623141e-01 1.03374261e-01 -6.21049228e-03 1.07265300e+02] [ 6.25251660e-03 -8.24850834e-05 9.99980449e-01 1.08364864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:107.29, Z:1.08 [[ 1.03401736e-01 -9.94639409e-01 -7.26631045e-04 1.31777933e+02] [ 9.94620021e-01 1.03404258e-01 -6.21069817e-03 1.07293328e+02] [ 6.25254190e-03 -8.05248112e-05 9.99980449e-01 1.08353962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:107.32, Z:1.08 [[ 1.03205526e-01 -9.94659788e-01 -7.24875925e-04 1.31780776e+02] [ 9.94640400e-01 1.03208040e-01 -6.21090302e-03 1.07320258e+02] [ 6.25254850e-03 -7.99913701e-05 9.99980449e-01 1.08311943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.541858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.78, Y:107.35, Z:1.08 [[ 1.03079017e-01 -9.94672908e-01 -7.23028917e-04 1.31783644e+02] [ 9.94653518e-01 1.03081522e-01 -6.21111802e-03 1.07347081e+02] [ 6.25256175e-03 -7.89273181e-05 9.99980449e-01 1.08296096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:107.37, Z:1.08 [[ 1.02769985e-01 -9.94704886e-01 -7.21224126e-04 1.31787206e+02] [ 9.94685496e-01 1.02772485e-01 -6.21132759e-03 1.07374653e+02] [ 6.25255989e-03 -7.90531347e-05 9.99980449e-01 1.08307513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.601858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.79, Y:107.40, Z:1.08 [[ 1.02375189e-01 -9.94745597e-01 -7.19489270e-04 1.31791401e+02] [ 9.94726207e-01 1.02377686e-01 -6.21152854e-03 1.07401174e+02] [ 6.25255031e-03 -7.97884233e-05 9.99980449e-01 1.08393924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.631858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.79, Y:107.43, Z:1.08 [[ 1.02103126e-01 -9.94773561e-01 -7.17664030e-04 1.31794628e+02] [ 9.94754169e-01 1.02105617e-01 -6.21173941e-03 1.07429103e+02] [ 6.25255166e-03 -7.96612759e-05 9.99980449e-01 1.08449450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:107.46, Z:1.08 [[ 1.02606143e-01 -9.94721804e-01 -7.15963087e-04 1.31796783e+02] [ 9.94702410e-01 1.02608614e-01 -6.21193546e-03 1.07457029e+02] [ 6.25261162e-03 -7.47874696e-05 9.99980449e-01 1.08429801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:107.49, Z:1.09 [[ 1.06464964e-01 -9.94316198e-01 -7.14233293e-04 1.31805325e+02] [ 9.94296793e-01 1.06467349e-01 -6.21213434e-03 1.07488881e+02] [ 6.25286832e-03 -4.87852129e-05 9.99980449e-01 1.08719053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:107.51, Z:1.08 [[ 1.03623546e-01 -9.94616263e-01 -8.06412058e-04 1.31802233e+02] [ 9.94596942e-01 1.03626562e-01 -6.20150556e-03 1.07510490e+02] [ 6.25168399e-03 -1.59432967e-04 9.99980445e-01 1.08462834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.751858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.81, Y:107.54, Z:1.08 [[ 1.04387852e-01 -9.94536410e-01 -7.11438771e-04 1.31805415e+02] [ 9.94517008e-01 1.04390259e-01 -6.21238188e-03 1.07538623e+02] [ 6.25270725e-03 -5.90407613e-05 9.99980450e-01 1.08441427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.781858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.81, Y:107.57, Z:1.08 [[ 1.04771153e-01 -9.94496104e-01 -7.09733790e-04 1.31808720e+02] [ 9.94476701e-01 1.04773542e-01 -6.21257666e-03 1.07566391e+02] [ 6.25274461e-03 -5.49148991e-05 9.99980450e-01 1.08421592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.811858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.81, Y:107.59, Z:1.08 [[ 1.04750316e-01 -9.94498301e-01 -7.08016904e-04 1.31812003e+02] [ 9.94478896e-01 1.04752695e-01 -6.21277232e-03 1.07593503e+02] [ 6.25275819e-03 -5.33180072e-05 9.99980450e-01 1.08432343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:107.62, Z:1.08 [[ 1.04758330e-01 -9.94497458e-01 -7.06205198e-04 1.31814897e+02] [ 9.94478052e-01 1.04760697e-01 -6.21297825e-03 1.07620630e+02] [ 6.25277362e-03 -5.14443460e-05 9.99980450e-01 1.08448725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.871858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.82, Y:107.65, Z:1.08 [[ 1.04680260e-01 -9.94505680e-01 -7.04418190e-04 1.31817769e+02] [ 9.94486272e-01 1.04682618e-01 -6.21318085e-03 1.07648825e+02] [ 6.25278398e-03 -5.01368330e-05 9.99980450e-01 1.08402914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.901858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.82, Y:107.68, Z:1.08 [[ 1.04970986e-01 -9.94475037e-01 -7.02674992e-04 1.31820752e+02] [ 9.94455627e-01 1.04973328e-01 -6.21337799e-03 1.07675336e+02] [ 6.25281143e-03 -4.65546853e-05 9.99980450e-01 1.08447873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.82, Y:107.70, Z:1.08 [[ 1.04695439e-01 -9.94504084e-01 -7.00839515e-04 1.31823882e+02] [ 9.94484674e-01 1.04697775e-01 -6.21358501e-03 1.07703753e+02] [ 6.25281201e-03 -4.64401444e-05 9.99980450e-01 1.08465679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.83, Y:107.73, Z:1.08 [[ 1.04475527e-01 -9.94527212e-01 -6.99117807e-04 1.31827420e+02] [ 9.94507801e-01 1.04477856e-01 -6.21377872e-03 1.07731188e+02] [ 6.25281436e-03 -4.60903033e-05 9.99980450e-01 1.08497430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99185806399998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.83, Y:107.76, Z:1.09 [[ 1.04275739e-01 -9.94548181e-01 -6.97400174e-04 1.31831053e+02] [ 9.94528769e-01 1.04278061e-01 -6.21397150e-03 1.07758428e+02] [ 6.25281758e-03 -4.56180662e-05 9.99980450e-01 1.08543885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02185806399999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:131.83, Y:107.79, Z:1.09 [[ 1.03289621e-01 -9.94651079e-01 -6.96145475e-04 1.31834636e+02] [ 9.94631669e-01 1.03291954e-01 -6.21411205e-03 1.07786415e+02] [ 6.25277949e-03 -5.05550573e-05 9.99980450e-01 1.08546568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.051858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.84, Y:107.81, Z:1.09 [[ 1.02773721e-01 -9.94704519e-01 -6.94440429e-04 1.31837852e+02] [ 9.94685109e-01 1.02776054e-01 -6.21430259e-03 1.07814143e+02] [ 6.25276672e-03 -5.20825546e-05 9.99980450e-01 1.08515025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.081858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.84, Y:107.84, Z:1.08 [[ 1.02568008e-01 -9.94725753e-01 -6.92726348e-04 1.31842443e+02] [ 9.94706342e-01 1.02570334e-01 -6.21449366e-03 1.07841890e+02] [ 6.25277006e-03 -5.16510574e-05 9.99980450e-01 1.08429450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.111858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.85, Y:107.87, Z:1.08 [[ 1.02179948e-01 -9.94765691e-01 -6.90993962e-04 1.31846520e+02] [ 9.94746280e-01 1.02182271e-01 -6.21468628e-03 1.07870082e+02] [ 6.25276402e-03 -5.23473503e-05 9.99980450e-01 1.08369617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.141858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.85, Y:107.90, Z:1.08 [[ 1.03884609e-01 -9.94589118e-01 -6.89266122e-04 1.31850149e+02] [ 9.94569701e-01 1.03886887e-01 -6.21487791e-03 1.07895367e+02] [ 6.25285565e-03 -3.98930423e-05 9.99980450e-01 1.08295146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.171858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.85, Y:107.92, Z:1.08 [[ 1.02822599e-01 -9.94699497e-01 -6.50733009e-04 1.31853995e+02] [ 9.94680055e-01 1.02824658e-01 -6.21913253e-03 1.07923809e+02] [ 6.25307940e-03 -7.80377504e-06 9.99980449e-01 1.08235297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.85, Y:107.94, Z:1.08 [[ 9.65158684e-02 -9.95331209e-01 -6.86051420e-04 1.31847253e+02] [ 9.95311808e-01 9.65182710e-02 -6.21523401e-03 1.07940057e+02] [ 6.25243288e-03 -8.29663712e-05 9.99980450e-01 1.07926216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:107.98, Z:1.08 [[ 1.03568545e-01 -9.94622200e-01 -4.84677092e-04 1.31862337e+02] [ 9.94602657e-01 1.03569549e-01 -6.23726270e-03 1.07979261e+02] [ 6.25391774e-03 1.63923098e-04 9.99980431e-01 1.08236120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.87, Y:108.00, Z:1.08 [[ 1.04844682e-01 -9.94488372e-01 -6.86300526e-04 1.31866297e+02] [ 9.94468952e-01 1.04846924e-01 -6.21499825e-03 1.08004590e+02] [ 6.25269999e-03 -3.08950475e-05 9.99980451e-01 1.08211789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.291858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.87, Y:108.04, Z:1.08 [[ 1.05439866e-01 -9.94425462e-01 -6.59795677e-04 1.31874324e+02] [ 9.94406022e-01 1.05441930e-01 -6.21792516e-03 1.08035580e+02] [ 6.25283323e-03 -4.87601892e-07 9.99980451e-01 1.08222948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.321858064 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:131.88, Y:108.06, Z:1.08 [[ 1.05037425e-01 -9.94468011e-01 -7.17754755e-04 1.31877016e+02] [ 9.94448614e-01 1.05039860e-01 -6.21148869e-03 1.08059118e+02] [ 6.25251966e-03 -6.13314411e-05 9.99980451e-01 1.08242932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.351858064 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:131.88, Y:108.09, Z:1.08 [[ 1.03528483e-01 -9.94626263e-01 -6.70350696e-04 1.31881128e+02] [ 9.94606835e-01 1.03530651e-01 -6.21671939e-03 1.08087073e+02] [ 6.25271422e-03 -2.31278552e-05 9.99980451e-01 1.08301577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.381858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.89, Y:108.11, Z:1.08 [[ 1.03919314e-01 -9.94585486e-01 -6.97392959e-04 1.31885691e+02] [ 9.94566077e-01 1.03921643e-01 -6.21374481e-03 1.08111869e+02] [ 6.25257463e-03 -4.78752776e-05 9.99980451e-01 1.08330340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.411858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.89, Y:108.14, Z:1.08 [[ 1.02994012e-01 -9.94681743e-01 -6.81359894e-04 1.31889730e+02] [ 9.94662324e-01 1.02996259e-01 -6.21550240e-03 1.08140411e+02] [ 6.25262428e-03 -3.75634867e-05 9.99980451e-01 1.08233375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.441858064 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:131.89, Y:108.17, Z:1.08 [[ 1.03906189e-01 -9.94586854e-01 -7.02499101e-04 1.31894066e+02] [ 9.94567448e-01 1.03908551e-01 -6.21318219e-03 1.08165635e+02] [ 6.25254499e-03 -5.30946536e-05 9.99980451e-01 1.08118207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:108.19, Z:1.08 [[ 1.01357933e-01 -9.94849792e-01 -6.78891254e-04 1.31898280e+02] [ 9.94830375e-01 1.01360196e-01 -6.21576067e-03 1.08193027e+02] [ 6.25256076e-03 -4.53649878e-05 9.99980452e-01 1.08212254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.501858064 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:131.91, Y:108.22, Z:1.08 [[ 1.03086070e-01 -9.94672190e-01 -7.05147545e-04 1.31905060e+02] [ 9.94652788e-01 1.03088464e-01 -6.21290898e-03 1.08222539e+02] [ 6.25250036e-03 -6.09126017e-05 9.99980451e-01 1.08107223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:108.25, Z:1.08 [[ 9.90259300e-02 -9.95084570e-01 -7.50842344e-04 1.31906830e+02] [ 9.95065214e-01 9.90286880e-02 -6.20794439e-03 1.08248180e+02] [ 6.25178461e-03 -1.32389632e-04 9.99980449e-01 1.08165901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.561858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:131.91, Y:108.28, Z:1.08 [[ 9.80698435e-02 -9.95179278e-01 -7.14723190e-04 1.31911123e+02] [ 9.95159896e-01 9.80723947e-02 -6.21181867e-03 1.08277142e+02] [ 6.25196783e-03 -1.02071771e-04 9.99980451e-01 1.08342423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.591858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:131.91, Y:108.30, Z:1.08 [[ 9.91416036e-02 -9.95073064e-01 -7.34593154e-04 1.31914779e+02] [ 9.95053695e-01 9.91442580e-02 -6.20969789e-03 1.08303633e+02] [ 6.25193380e-03 -1.15320225e-04 9.99980450e-01 1.08275984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621858064 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:131.92, Y:108.33, Z:1.09 [[ 1.01170514e-01 -9.94868841e-01 -7.18158017e-04 1.31919937e+02] [ 9.94849454e-01 1.01173026e-01 -6.21144669e-03 1.08334437e+02] [ 6.25223299e-03 -8.60438565e-05 9.99980451e-01 1.08558469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.651858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.92, Y:108.36, Z:1.08 [[ 9.60909397e-02 -9.95372249e-01 -7.85334916e-04 1.31917325e+02] [ 9.95352929e-01 9.60939698e-02 -6.20450015e-03 1.08358270e+02] [ 6.25125322e-03 -1.85489159e-04 9.99980444e-01 1.08473890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:131.92, Y:108.39, Z:1.09 [[ 9.62355534e-02 -9.95358354e-01 -6.82684679e-04 1.31920218e+02] [ 9.95338954e-01 9.62379404e-02 -6.21499304e-03 1.08386759e+02] [ 6.25184540e-03 -8.13993599e-05 9.99980454e-01 1.08515519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71185806399998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:131.93, Y:108.42, Z:1.09 [[ 9.94194320e-02 -9.95045380e-01 -6.84702237e-04 1.31926559e+02] [ 9.95025974e-01 9.94217695e-02 -6.21478715e-03 1.08417714e+02] [ 6.25206955e-03 -6.34259013e-05 9.99980454e-01 1.08567274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.92, Y:108.44, Z:1.08 [[ 9.79214992e-02 -9.95193872e-01 -7.33540588e-04 1.31924626e+02] [ 9.95174505e-01 9.79241708e-02 -6.20972180e-03 1.08441698e+02] [ 6.25170843e-03 -1.21935623e-04 9.99980450e-01 1.08203140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77185806399999 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:131.93, Y:108.47, Z:1.08 [[ 9.98142631e-02 -9.95005856e-01 -6.77989750e-04 1.31929655e+02] [ 9.94986444e-01 9.98165510e-02 -6.21545378e-03 1.08470902e+02] [ 6.25208751e-03 -5.41996712e-05 9.99980454e-01 1.08363238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.801858064 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:131.93, Y:108.50, Z:1.08 [[ 1.01307636e-01 -9.94854886e-01 -7.19568632e-04 1.31934962e+02] [ 9.94835501e-01 1.01310154e-01 -6.21117497e-03 1.08503159e+02] [ 6.25211737e-03 -8.66129683e-05 9.99980452e-01 1.08102141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.831858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:131.93, Y:108.52, Z:1.08 [[ 9.68641113e-02 -9.95297282e-01 -8.15194317e-04 1.31933370e+02] [ 9.95277985e-01 9.68673125e-02 -6.20129521e-03 1.08524840e+02] [ 6.25109795e-03 -2.10662008e-04 9.99980440e-01 1.07955459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.861858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:131.93, Y:108.55, Z:1.08 [[ 9.25097488e-02 -9.95711526e-01 -7.09016683e-04 1.31931891e+02] [ 9.95692157e-01 9.25123726e-02 -6.21211364e-03 1.08549199e+02] [ 6.25106597e-03 -1.31281278e-04 9.99980453e-01 1.08354184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.891858064 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:131.93, Y:108.58, Z:1.08 [[ 9.10292747e-02 -9.95848006e-01 -6.47877611e-04 1.31934260e+02] [ 9.95828595e-01 9.10315458e-02 -6.21829801e-03 1.08576187e+02] [ 6.25145698e-03 -7.91278933e-05 9.99980456e-01 1.08447343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.921858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.94, Y:108.60, Z:1.09 [[ 8.84139558e-02 -9.96083610e-01 -6.43621744e-04 1.31936294e+02] [ 9.96064202e-01 8.84162514e-02 -6.21872682e-03 1.08603678e+02] [ 6.25127848e-03 -9.12663405e-05 9.99980456e-01 1.08681034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.951858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:131.94, Y:108.63, Z:1.09 [[ 8.47511456e-02 -9.96401944e-01 -6.39160652e-04 1.31936885e+02] [ 9.96382541e-01 8.47534846e-02 -6.21917567e-03 1.08631094e+02] [ 6.25096983e-03 -1.09766251e-04 9.99980456e-01 1.08528997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.981858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.95, Y:108.66, Z:1.08 [[ 8.90582773e-02 -9.96026205e-01 -6.49363203e-04 1.31946987e+02] [ 9.96006800e-01 8.90605961e-02 -6.21815355e-03 1.08663561e+02] [ 6.25127656e-03 -9.29921229e-05 9.99980456e-01 1.08266101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.011858064 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:131.94, Y:108.69, Z:1.09 [[ 8.09484198e-02 -9.96718025e-01 -7.29911986e-04 1.31941457e+02] [ 9.96698703e-01 8.09513984e-02 -6.21014979e-03 1.08685449e+02] [ 6.24885563e-03 -2.24800517e-04 9.99980450e-01 1.08835973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.041858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:131.94, Y:108.71, Z:1.09 [[ 7.88432953e-02 -9.96886837e-01 -6.07123171e-04 1.31943166e+02] [ 9.96867425e-01 7.88455494e-02 -6.22223351e-03 1.08711741e+02] [ 6.25073165e-03 -1.14639918e-04 9.99980457e-01 1.08788554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.071858064 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:131.95, Y:108.74, Z:1.09 [[ 7.55633914e-02 -9.97140822e-01 -5.95372654e-04 1.31946307e+02] [ 9.97121409e-01 7.55656361e-02 -6.22338384e-03 1.08738361e+02] [ 6.25057979e-03 -1.23398830e-04 9.99980457e-01 1.08999341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:131.95, Y:108.76, Z:1.09 [[ 7.35130272e-02 -9.97294071e-01 -6.08240124e-04 1.31948598e+02] [ 9.97274672e-01 7.35153920e-02 -6.22212599e-03 1.08764156e+02] [ 6.25000437e-03 -1.49175153e-04 9.99980457e-01 1.08934238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.95, Y:108.79, Z:1.09 [[ 7.14865807e-02 -9.97441377e-01 -6.06257824e-04 1.31950078e+02] [ 9.97421982e-01 7.14889726e-02 -6.22231913e-03 1.08792616e+02] [ 6.24973931e-03 -1.59882562e-04 9.99980457e-01 1.09042597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.95, Y:108.82, Z:1.09 [[ 7.08753415e-02 -9.97484998e-01 -6.04555809e-04 1.31951846e+02] [ 9.97465602e-01 7.08777347e-02 -6.22248449e-03 1.08820345e+02] [ 6.24968447e-03 -1.62002911e-04 9.99980457e-01 1.09088260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.191858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:131.95, Y:108.85, Z:1.09 [[ 7.10196904e-02 -9.97474732e-01 -6.02841736e-04 1.31953827e+02] [ 9.97455334e-01 7.10220701e-02 -6.22265055e-03 1.08847384e+02] [ 6.24975175e-03 -1.59376990e-04 9.99980457e-01 1.09065270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.96, Y:108.88, Z:1.09 [[ 7.58207426e-02 -9.97121283e-01 -6.01588509e-04 1.31959431e+02] [ 9.97101874e-01 7.58230211e-02 -6.22277170e-03 1.08877821e+02] [ 6.25047236e-03 -1.28029858e-04 9.99980457e-01 1.09253433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:108.91, Z:1.09 [[ 7.67165709e-02 -9.97052737e-01 -6.38351748e-04 1.31963311e+02] [ 9.97033353e-01 7.67190612e-02 -6.21922128e-03 1.08909322e+02] [ 6.24986534e-03 -1.59340653e-04 9.99980457e-01 1.09181811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.96, Y:108.93, Z:1.09 [[ 7.37911056e-02 -9.97273474e-01 -7.00437039e-04 1.31959633e+02] [ 9.97254148e-01 7.37940394e-02 -6.21321541e-03 1.08932210e+02] [ 6.24796300e-03 -2.40033708e-04 9.99980452e-01 1.09194513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:108.96, Z:1.09 [[ 7.57657355e-02 -9.97125467e-01 -5.96904562e-04 1.31960642e+02] [ 9.97106055e-01 7.57679858e-02 -6.22314595e-03 1.08959643e+02] [ 6.25048357e-03 -1.23675923e-04 9.99980458e-01 1.08999526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.96, Y:108.99, Z:1.09 [[ 7.74384122e-02 -9.96996954e-01 -6.05446230e-04 1.31962796e+02] [ 9.96977544e-01 7.74406833e-02 -6.22232951e-03 1.08986406e+02] [ 6.25052974e-03 -1.21768978e-04 9.99980458e-01 1.09277083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:109.01, Z:1.09 [[ 7.73845258e-02 -9.97001146e-01 -5.92525048e-04 1.31964514e+02] [ 9.96981727e-01 7.73867173e-02 -6.22355970e-03 1.09014848e+02] [ 6.25074972e-03 -1.09129429e-04 9.99980458e-01 1.09166611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.97, Y:109.04, Z:1.09 [[ 7.89186030e-02 -9.96880880e-01 -6.04357671e-04 1.31965483e+02] [ 9.96861466e-01 7.89208384e-02 -6.22243685e-03 1.09042175e+02] [ 6.25072473e-03 -1.11394851e-04 9.99980458e-01 1.09202141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:109.07, Z:1.09 [[ 8.07757356e-02 -9.96732118e-01 -6.05353584e-04 1.31969803e+02] [ 9.96712700e-01 8.07779410e-02 -6.22234285e-03 1.09070876e+02] [ 6.25090818e-03 -1.00749285e-04 9.99980458e-01 1.09354263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.97, Y:109.09, Z:1.09 [[ 8.03233879e-02 -9.96768657e-01 -6.31339637e-04 1.31968609e+02] [ 9.96749259e-01 8.03257644e-02 -6.21990174e-03 1.09094689e+02] [ 6.25051594e-03 -1.29683735e-04 9.99980457e-01 1.09464595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:109.12, Z:1.09 [[ 8.09288869e-02 -9.96719708e-01 -5.81728195e-04 1.31970263e+02] [ 9.96700275e-01 8.09309419e-02 -6.22453830e-03 1.09120886e+02] [ 6.25119980e-03 -7.60636964e-05 9.99980458e-01 1.09348908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.97, Y:109.15, Z:1.09 [[ 8.29921851e-02 -9.96550029e-01 -5.79731302e-04 1.31971578e+02] [ 9.96530590e-01 8.29941874e-02 -6.22472427e-03 1.09147717e+02] [ 6.25136349e-03 -6.11165072e-05 9.99980458e-01 1.09487861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.551858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.97, Y:109.18, Z:1.09 [[ 8.22563429e-02 -9.96611038e-01 -5.77859325e-04 1.31973107e+02] [ 9.96591599e-01 8.22583479e-02 -6.22489805e-03 1.09176040e+02] [ 6.25133586e-03 -6.38524003e-05 9.99980458e-01 1.09250064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:109.20, Z:1.09 [[ 8.71266199e-02 -9.96197084e-01 -5.67825286e-04 1.31978861e+02] [ 9.96177629e-01 8.71284671e-02 -6.22582625e-03 1.09204647e+02] [ 6.25162370e-03 -2.32196501e-05 9.99980458e-01 1.09460218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.611858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.98, Y:109.23, Z:1.10 [[ 8.47479395e-02 -9.96402237e-01 -6.07945738e-04 1.31977554e+02] [ 9.96382812e-01 8.47500838e-02 -6.22209889e-03 1.09230418e+02] [ 6.25123670e-03 -7.84366239e-05 9.99980458e-01 1.09537007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.98, Y:109.26, Z:1.10 [[ 8.53170158e-02 -9.96353683e-01 -5.86882100e-04 1.31978661e+02] [ 9.96334244e-01 8.53190174e-02 -6.22404681e-03 1.09258120e+02] [ 6.25142417e-03 -5.37136330e-05 9.99980458e-01 1.09555974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.98, Y:109.28, Z:1.10 [[ 8.56950507e-02 -9.96321238e-01 -5.91155018e-04 1.31980139e+02] [ 9.96301801e-01 8.56970716e-02 -6.22365248e-03 1.09283002e+02] [ 6.25141740e-03 -5.56325935e-05 9.99980458e-01 1.09540892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:109.31, Z:1.10 [[ 8.61749203e-02 -9.96279858e-01 -5.71979387e-04 1.31982278e+02] [ 9.96260408e-01 8.61768121e-02 -6.22541386e-03 1.09309881e+02] [ 6.25154580e-03 -3.33658742e-05 9.99980458e-01 1.09537259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:109.34, Z:1.09 [[ 8.37866542e-02 -9.96483564e-01 -5.51344114e-04 1.31984593e+02] [ 9.96464106e-01 8.37884637e-02 -6.22730068e-03 1.09337705e+02] [ 6.25159905e-03 -2.76299301e-05 9.99980458e-01 1.09485117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.99, Y:109.36, Z:1.09 [[ 8.32357854e-02 -9.96529719e-01 -5.68212710e-04 1.31988026e+02] [ 9.96510273e-01 8.32377110e-02 -6.22576112e-03 1.09364952e+02] [ 6.25145271e-03 -4.80236859e-05 9.99980458e-01 1.09362927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.99, Y:109.39, Z:1.09 [[ 8.30297604e-02 -9.96546908e-01 -5.64620485e-04 1.31990424e+02] [ 9.96527460e-01 8.30316676e-02 -6.22608834e-03 1.09392582e+02] [ 6.25147046e-03 -4.57091942e-05 9.99980458e-01 1.09380126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:109.42, Z:1.09 [[ 8.13742386e-02 -9.96683458e-01 -5.63480115e-04 1.31994754e+02] [ 9.96664012e-01 8.13761710e-02 -6.22619199e-03 1.09423676e+02] [ 6.25139642e-03 -5.49487198e-05 9.99980458e-01 1.09365075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:109.45, Z:1.09 [[ 7.84715784e-02 -9.96916166e-01 -6.07180950e-04 1.31998616e+02] [ 9.96896755e-01 7.84738402e-02 -6.22221792e-03 1.09451462e+02] [ 6.25067746e-03 -1.17029457e-04 9.99980457e-01 1.09305806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:132.00, Y:109.48, Z:1.09 [[ 7.86779988e-02 -9.96899895e-01 -6.10211727e-04 1.32002762e+02] [ 9.96880485e-01 7.86802754e-02 -6.22194310e-03 1.09479667e+02] [ 6.25066605e-03 -1.18778130e-04 9.99980457e-01 1.09372469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:109.50, Z:1.09 [[ 7.33346453e-02 -9.97307205e-01 -6.07104768e-04 1.32001333e+02] [ 9.97287806e-01 7.33370066e-02 -6.22222391e-03 1.09504064e+02] [ 6.24999198e-03 -1.49153598e-04 9.99980457e-01 1.09453034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.00, Y:109.53, Z:1.09 [[ 7.32021227e-02 -9.97316969e-01 -5.59890023e-04 1.32003382e+02] [ 9.97297537e-01 7.32041920e-02 -6.22646951e-03 1.09530285e+02] [ 6.25074999e-03 -1.02586155e-04 9.99980459e-01 1.09458018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:109.56, Z:1.09 [[ 7.36597318e-02 -9.97283291e-01 -5.29686022e-04 1.32007748e+02] [ 9.97263840e-01 7.36616036e-02 -6.22917163e-03 1.09558595e+02] [ 6.25126630e-03 -6.93976048e-05 9.99980458e-01 1.09386834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:109.58, Z:1.09 [[ 7.28555730e-02 -9.97342340e-01 -5.67222004e-04 1.32009927e+02] [ 9.97322914e-01 7.28576947e-02 -6.22581549e-03 1.09584924e+02] [ 6.25059588e-03 -1.12118147e-04 9.99980459e-01 1.09360868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.031858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.01, Y:109.61, Z:1.09 [[ 6.96252121e-02 -9.97573066e-01 -5.55482501e-04 1.32010005e+02] [ 9.97553639e-01 6.96273235e-02 -6.22686068e-03 1.09612738e+02] [ 6.25042526e-03 -1.20577094e-04 9.99980459e-01 1.09341121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:109.64, Z:1.09 [[ 7.01445429e-02 -9.97536675e-01 -5.69637305e-04 1.32011019e+02] [ 9.97517257e-01 7.01467325e-02 -6.22560493e-03 1.09638973e+02] [ 6.25022744e-03 -1.31530829e-04 9.99980458e-01 1.09465150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.01, Y:109.67, Z:1.09 [[ 6.95787684e-02 -9.97576314e-01 -5.40638843e-04 1.32012137e+02] [ 9.97556878e-01 6.95807881e-02 -6.22816670e-03 1.09667561e+02] [ 6.25068966e-03 -1.05969828e-04 9.99980459e-01 1.09495770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:109.70, Z:1.09 [[ 6.94534473e-02 -9.97585043e-01 -5.48576991e-04 1.32014546e+02] [ 9.97565612e-01 6.94555190e-02 -6.22746743e-03 1.09696482e+02] [ 6.25053006e-03 -1.14722461e-04 9.99980459e-01 1.09358279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:109.73, Z:1.09 [[ 6.98524562e-02 -9.97557174e-01 -5.64842575e-04 1.32018436e+02] [ 9.97537753e-01 6.98546216e-02 -6.22604111e-03 1.09726200e+02] [ 6.25028884e-03 -1.28547529e-04 9.99980459e-01 1.09369566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18185806399998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:132.02, Y:109.75, Z:1.09 [[ 7.05673647e-02 -9.97506844e-01 -5.86431958e-04 1.32020917e+02] [ 9.97487436e-01 7.05696509e-02 -6.22414714e-03 1.09752188e+02] [ 6.25001367e-03 -1.45736849e-04 9.99980458e-01 1.09405580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21185806399998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:132.02, Y:109.78, Z:1.10 [[ 7.10275001e-02 -9.97474198e-01 -5.65144722e-04 1.32021171e+02] [ 9.97454774e-01 7.10296445e-02 -6.22601181e-03 1.09776701e+02] [ 6.25042816e-03 -1.21488246e-04 9.99980459e-01 1.09570920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24185806399998 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:132.02, Y:109.81, Z:1.10 [[ 7.02224759e-02 -9.97531222e-01 -5.15515820e-04 1.32022247e+02] [ 9.97511768e-01 7.02243262e-02 -6.23034183e-03 1.09805234e+02] [ 6.25116225e-03 -7.67230679e-05 9.99980458e-01 1.09546056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27185806399999 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:132.02, Y:109.83, Z:1.10 [[ 7.11770030e-02 -9.97463553e-01 -5.43083686e-04 1.32023700e+02] [ 9.97444115e-01 7.11790068e-02 -6.22793788e-03 1.09833220e+02] [ 6.25079720e-03 -9.84096727e-05 9.99980459e-01 1.09571561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.301858064 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:132.03, Y:109.86, Z:1.09 [[ 7.46564677e-02 -9.97209165e-01 -5.41334016e-04 1.32026650e+02] [ 9.97189719e-01 7.46583927e-02 -6.22808996e-03 1.09858940e+02] [ 6.25112351e-03 -7.48455191e-05 9.99980459e-01 1.09495891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.331858064 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:132.03, Y:109.89, Z:1.10 [[ 7.44929668e-02 -9.97221400e-01 -5.26406954e-04 1.32026078e+02] [ 9.97201945e-01 7.44948018e-02 -6.22938276e-03 1.09887630e+02] [ 6.25128838e-03 -6.08888357e-05 9.99980459e-01 1.09523621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.361858064 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:132.03, Y:109.92, Z:1.10 [[ 7.56226129e-02 -9.97136366e-01 -5.37537136e-04 1.32028429e+02] [ 9.97116915e-01 7.56244954e-02 -6.22842218e-03 1.09915570e+02] [ 6.25123723e-03 -6.49778114e-05 9.99980459e-01 1.09569908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.391858064 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:132.03, Y:109.94, Z:1.10 [[ 7.68820980e-02 -9.97040047e-01 -5.35774645e-04 1.32030482e+02] [ 9.97020594e-01 7.68839449e-02 -6.22857379e-03 1.09941942e+02] [ 6.25132997e-03 -5.53125335e-05 9.99980459e-01 1.09616532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.421858064 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:132.03, Y:109.97, Z:1.10 [[ 7.80432297e-02 -9.96949838e-01 -5.23714691e-04 1.32032275e+02] [ 9.96930375e-01 7.80449786e-02 -6.22960589e-03 1.09968579e+02] [ 6.25147789e-03 -3.59285199e-05 9.99980459e-01 1.09629030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.451858064 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:132.03, Y:110.00, Z:1.10 [[ 7.97561706e-02 -9.96814272e-01 -5.09504713e-04 1.32033381e+02] [ 9.96794799e-01 7.97577973e-02 -6.23081632e-03 1.09995031e+02] [ 6.25160361e-03 -1.09255984e-05 9.99980458e-01 1.09713911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.481858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:132.03, Y:110.02, Z:1.10 [[ 7.89147927e-02 -9.96881236e-01 -5.06227260e-04 1.32034758e+02] [ 9.96861762e-01 7.89164153e-02 -6.23109555e-03 1.10023449e+02] [ 6.25161187e-03 -1.29129853e-05 9.99980458e-01 1.09745276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.511858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:132.04, Y:110.05, Z:1.10 [[ 7.80127667e-02 -9.96952226e-01 -5.16312716e-04 1.32036922e+02] [ 9.96932759e-01 7.80144700e-02 -6.23023848e-03 1.10052022e+02] [ 6.25152998e-03 -2.86909202e-05 9.99980459e-01 1.09766361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.541858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:132.04, Y:110.08, Z:1.10 [[ 7.60994331e-02 -9.97100094e-01 -5.27504272e-04 1.32038890e+02] [ 9.97080637e-01 7.61012437e-02 -6.22929076e-03 1.10079707e+02] [ 6.25137014e-03 -5.19188002e-05 9.99980459e-01 1.09751548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.571858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:132.04, Y:110.11, Z:1.10 [[ 7.45892045e-02 -9.97214207e-01 -5.25754224e-04 1.32041375e+02] [ 9.97194751e-01 7.45910336e-02 -6.22943846e-03 1.10108169e+02] [ 6.25130109e-03 -5.96304933e-05 9.99980459e-01 1.09760226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.04, Y:110.14, Z:1.10 [[ 7.32080611e-02 -9.97316552e-01 -5.24018108e-04 1.32043734e+02] [ 9.97297098e-01 7.32099063e-02 -6.22958450e-03 1.10135064e+02] [ 6.25123105e-03 -6.65459358e-05 9.99980459e-01 1.09687503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.631858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.05, Y:110.16, Z:1.10 [[ 7.06309215e-02 -9.97502381e-01 -5.22752128e-04 1.32045694e+02] [ 9.97482931e-01 7.06328090e-02 -6.22969073e-03 1.10163470e+02] [ 6.25105479e-03 -8.14275276e-05 9.99980459e-01 1.09610903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:110.19, Z:1.10 [[ 6.91604253e-02 -9.97605415e-01 -5.21026582e-04 1.32047617e+02] [ 9.97585967e-01 6.91623307e-02 -6.22983505e-03 1.10191746e+02] [ 6.25095259e-03 -8.89107655e-05 9.99980459e-01 1.09580407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.691858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.05, Y:110.22, Z:1.10 [[ 6.80088124e-02 -9.97684585e-01 -5.19312332e-04 1.32049597e+02] [ 9.97665138e-01 6.80107296e-02 -6.22997794e-03 1.10218682e+02] [ 6.25087177e-03 -9.44064086e-05 9.99980459e-01 1.09643427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.05, Y:110.25, Z:1.10 [[ 6.53049211e-02 -9.97865225e-01 -5.09757036e-04 1.32051863e+02] [ 9.97845777e-01 6.53068313e-02 -6.23077090e-03 1.10245444e+02] [ 6.25076022e-03 -1.01758904e-04 9.99980459e-01 1.09514680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.751858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.05, Y:110.27, Z:1.10 [[ 6.38202496e-02 -9.97961277e-01 -5.15601484e-04 1.32054136e+02] [ 9.97941836e-01 6.38222252e-02 -6.23028723e-03 1.10271810e+02] [ 6.25049223e-03 -1.16921806e-04 9.99980459e-01 1.09517249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.06, Y:110.30, Z:1.10 [[ 6.22063444e-02 -9.98063178e-01 -5.13622179e-04 1.32056424e+02] [ 9.98043739e-01 6.22083391e-02 -6.23045039e-03 1.10299637e+02] [ 6.25033470e-03 -1.25043857e-04 9.99980459e-01 1.09601986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.811858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:132.07, Y:110.34, Z:1.10 [[ 6.81618914e-02 -9.97674142e-01 -5.11914492e-04 1.32071729e+02] [ 9.97654691e-01 6.81637594e-02 -6.23059070e-03 1.10337757e+02] [ 6.25099325e-03 -8.60250474e-05 9.99980459e-01 1.09880295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.07, Y:110.37, Z:1.10 [[ 6.55540953e-02 -9.97848780e-01 -6.87705625e-04 1.32074399e+02] [ 9.97829456e-01 6.55571100e-02 -6.21632320e-03 1.10367821e+02] [ 6.24803451e-03 -2.78707486e-04 9.99980442e-01 1.09990804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.871858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.08, Y:110.39, Z:1.10 [[ 6.35334803e-02 -9.97979452e-01 -7.14637227e-04 1.32075308e+02] [ 9.97960156e-01 6.35367017e-02 -6.21413770e-03 1.10392686e+02] [ 6.24698743e-03 -3.18373683e-04 9.99980437e-01 1.10016509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:110.42, Z:1.10 [[ 6.41652065e-02 -9.97939056e-01 -6.83925567e-04 1.32078306e+02] [ 9.97919732e-01 6.41682246e-02 -6.21663618e-03 1.10416484e+02] [ 6.24771033e-03 -2.83611074e-04 9.99980443e-01 1.09575626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.08, Y:110.45, Z:1.10 [[ 6.34131409e-02 -9.97987148e-01 -6.52079183e-04 1.32081110e+02] [ 9.97967803e-01 6.34159753e-02 -6.21920148e-03 1.10449073e+02] [ 6.24803539e-03 -2.56374930e-04 9.99980448e-01 1.10016490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.08, Y:110.48, Z:1.10 [[ 6.32830082e-02 -9.97995361e-01 -7.21482387e-04 1.32082127e+02] [ 9.97976071e-01 6.32862770e-02 -6.21362263e-03 1.10476836e+02] [ 6.24682649e-03 -3.26805426e-04 9.99980435e-01 1.10074448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99185806399998 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:132.08, Y:110.51, Z:1.10 [[ 6.35005654e-02 -9.97981557e-01 -7.00773408e-04 1.32083155e+02] [ 9.97962249e-01 6.35037012e-02 -6.21526436e-03 1.10505660e+02] [ 6.24722091e-03 -3.04672605e-04 9.99980440e-01 1.10096472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02185806399999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:132.07, Y:110.52, Z:1.10 [[ 5.85768786e-02 -9.98282656e-01 -6.99237181e-04 1.32071511e+02] [ 9.98263363e-01 5.85801000e-02 -6.21538447e-03 1.10521056e+02] [ 6.24567190e-03 -3.33945038e-04 9.99980440e-01 1.09859255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.051858064 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:132.08, Y:110.56, Z:1.10 [[ 6.67269331e-02 -9.97771161e-01 -4.76830603e-04 1.32082337e+02] [ 9.97751697e-01 6.67286099e-02 -6.23240058e-03 1.10556297e+02] [ 6.25032781e-03 -5.98895663e-05 9.99980465e-01 1.10104150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.081858064 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:132.09, Y:110.59, Z:1.10 [[ 7.16642625e-02 -9.97428626e-01 -6.08302066e-04 1.32087885e+02] [ 9.97409232e-01 7.16666637e-02 -6.22202148e-03 1.10587457e+02] [ 6.24961731e-03 -1.60829516e-04 9.99980458e-01 1.09973713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.111858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:132.08, Y:110.60, Z:1.10 [[ 6.82272813e-02 -9.97669559e-01 -6.98744904e-04 1.32077003e+02] [ 9.97650239e-01 6.82303128e-02 -6.21486243e-03 1.10603357e+02] [ 6.24805464e-03 -2.73079853e-04 9.99980443e-01 1.09959824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.141858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:132.08, Y:110.63, Z:1.10 [[ 7.00921194e-02 -9.97540402e-01 -4.92057668e-04 1.32078676e+02] [ 9.97520943e-01 7.00938256e-02 -6.23087722e-03 1.10631093e+02] [ 6.25004197e-03 -5.41024389e-05 9.99980467e-01 1.09911808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.171858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:132.08, Y:110.66, Z:1.10 [[ 7.05531446e-02 -9.97507906e-01 -4.80724602e-04 1.32080280e+02] [ 9.97488441e-01 7.05547711e-02 -6.23175147e-03 1.10658234e+02] [ 6.25013878e-03 -3.98475705e-05 9.99980467e-01 1.09880063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.201858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:132.08, Y:110.68, Z:1.10 [[ 7.21681874e-02 -9.97392353e-01 -4.96736389e-04 1.32082420e+02] [ 9.97372894e-01 7.21698823e-02 -6.23051875e-03 1.10684304e+02] [ 6.25012116e-03 -4.57861652e-05 9.99980467e-01 1.09912521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.231858064 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:132.09, Y:110.71, Z:1.10 [[ 7.19122115e-02 -9.97410851e-01 -4.77690985e-04 1.32085302e+02] [ 9.97391382e-01 7.19137925e-02 -6.23197861e-03 1.10711561e+02] [ 6.25019566e-03 -2.82895078e-05 9.99980467e-01 1.09933117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.261858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:132.09, Y:110.74, Z:1.10 [[ 7.18043490e-02 -9.97418616e-01 -4.89099650e-04 1.32087627e+02] [ 9.97399153e-01 7.18060034e-02 -6.23110762e-03 1.10738363e+02] [ 6.25014304e-03 -4.04069503e-05 9.99980467e-01 1.09995968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.291858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:132.09, Y:110.77, Z:1.10 [[ 7.04827557e-02 -9.97512885e-01 -4.73825137e-04 1.32090350e+02] [ 9.97493417e-01 7.04843404e-02 -6.23226891e-03 1.10767729e+02] [ 6.25016580e-03 -3.33699681e-05 9.99980467e-01 1.10058841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:132.09, Y:110.79, Z:1.10 [[ 6.97062594e-02 -9.97567436e-01 -4.98587097e-04 1.32092545e+02] [ 9.97547981e-01 6.97080140e-02 -6.23038738e-03 1.10793520e+02] [ 6.24998708e-03 -6.30675530e-05 9.99980467e-01 1.10104343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.351858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.09, Y:110.82, Z:1.10 [[ 6.89436372e-02 -9.97620432e-01 -4.98015090e-04 1.32094429e+02] [ 9.97600979e-01 6.89454031e-02 -6.23043064e-03 1.10820215e+02] [ 6.24994076e-03 -6.72717919e-05 9.99980467e-01 1.09909502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.10, Y:110.85, Z:1.10 [[ 6.82930144e-02 -9.97665185e-01 -4.93069654e-04 1.32096646e+02] [ 9.97645730e-01 6.82947620e-02 -6.23080320e-03 1.10847351e+02] [ 6.24992950e-03 -6.63885026e-05 9.99980467e-01 1.09951402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:110.87, Z:1.10 [[ 6.88997611e-02 -9.97623464e-01 -4.96251930e-04 1.32100095e+02] [ 9.97604010e-01 6.89015168e-02 -6.23056438e-03 1.10871993e+02] [ 6.24994973e-03 -6.57785177e-05 9.99980467e-01 1.10093240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:110.90, Z:1.10 [[ 6.83323728e-02 -9.97662504e-01 -4.64304793e-04 1.32102344e+02] [ 9.97643034e-01 6.83339400e-02 -6.23294419e-03 1.10899052e+02] [ 6.25010248e-03 -3.72985769e-05 9.99980467e-01 1.10107994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:110.93, Z:1.10 [[ 6.72831260e-02 -9.97733816e-01 -4.62455850e-04 1.32104170e+02] [ 9.97714347e-01 6.72847022e-02 -6.23308137e-03 1.10927621e+02] [ 6.25007226e-03 -4.20176372e-05 9.99980467e-01 1.09960063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.11, Y:110.95, Z:1.10 [[ 6.59322082e-02 -9.97823996e-01 -4.65122373e-04 1.32105028e+02] [ 9.97804531e-01 6.59338274e-02 -6.23288386e-03 1.10954443e+02] [ 6.24998838e-03 -5.31534146e-05 9.99980467e-01 1.09815282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.531858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.11, Y:110.98, Z:1.10 [[ 6.41074445e-02 -9.97942898e-01 -4.57100576e-04 1.32107277e+02] [ 9.97923431e-01 6.41090492e-02 -6.23347639e-03 1.10982092e+02] [ 6.24995778e-03 -5.65391327e-05 9.99980467e-01 1.09628137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.11, Y:111.01, Z:1.10 [[ 6.27756592e-02 -9.98027565e-01 -4.43567561e-04 1.32109948e+02] [ 9.98008093e-01 6.27772053e-02 -6.23447228e-03 1.11010264e+02] [ 6.25002112e-03 -5.13109088e-05 9.99980467e-01 1.09621696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.591858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:132.11, Y:111.04, Z:1.10 [[ 6.02573037e-02 -9.98182780e-01 -4.41778733e-04 1.32114866e+02] [ 9.98163311e-01 6.02588877e-02 -6.23460364e-03 1.11039216e+02] [ 6.24989509e-03 -6.52869176e-05 9.99980467e-01 1.09749406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:132.12, Y:111.07, Z:1.10 [[ 5.86010547e-02 -9.98281380e-01 -4.49455381e-04 1.32117996e+02] [ 9.98261919e-01 5.86027190e-02 -6.23404140e-03 1.11066438e+02] [ 6.24966676e-03 -8.33527907e-05 9.99980467e-01 1.09747460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.651858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.12, Y:111.09, Z:1.10 [[ 5.67293361e-02 -9.98389493e-01 -4.49905357e-04 1.32120764e+02] [ 9.98370035e-01 5.67310397e-02 -6.23400851e-03 1.11094096e+02] [ 6.24949219e-03 -9.55208628e-05 9.99980467e-01 1.09663708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.12, Y:111.12, Z:1.10 [[ 5.52707892e-02 -9.98471306e-01 -4.36480486e-04 1.32123847e+02] [ 9.98451843e-01 5.52724374e-02 -6.23498637e-03 1.11122287e+02] [ 6.24958033e-03 -9.11921281e-05 9.99980467e-01 1.09754720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.13, Y:111.15, Z:1.10 [[ 5.50486978e-02 -9.98483577e-01 -4.33218643e-04 1.32125886e+02] [ 9.98464112e-01 5.50503300e-02 -6.23522329e-03 1.11150784e+02] [ 6.24961688e-03 -8.93123455e-05 9.99980467e-01 1.09772451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:111.18, Z:1.10 [[ 5.11399658e-02 -9.98691403e-01 -4.31472944e-04 1.32128850e+02] [ 9.98671943e-01 5.11416633e-02 -6.23534963e-03 1.11179390e+02] [ 6.24925632e-03 -1.12024356e-04 9.99980467e-01 1.09980661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.13, Y:111.21, Z:1.10 [[ 5.18880979e-02 -9.98652804e-01 -4.50280148e-04 1.32130661e+02] [ 9.98633354e-01 5.18898981e-02 -6.23399119e-03 1.11206047e+02] [ 6.24895778e-03 -1.26194829e-04 9.99980467e-01 1.09759244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:111.23, Z:1.10 [[ 5.10270554e-02 -9.98697185e-01 -4.15523596e-04 1.32132932e+02] [ 9.98677717e-01 5.10286555e-02 -6.23648794e-03 1.11232075e+02] [ 6.24956656e-03 -9.67445403e-05 9.99980467e-01 1.09770996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.14, Y:111.26, Z:1.10 [[ 5.17610015e-02 -9.98659421e-01 -4.00774969e-04 1.32138636e+02] [ 9.98639944e-01 5.17624952e-02 -6.23754835e-03 1.11260971e+02] [ 6.24993154e-03 -7.73681429e-05 9.99980466e-01 1.09917250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:111.29, Z:1.10 [[ 5.28342308e-02 -9.98603210e-01 -4.17091836e-04 1.32142574e+02] [ 9.98583740e-01 5.28358054e-02 -6.23638340e-03 1.11289187e+02] [ 6.24970986e-03 -8.70066059e-05 9.99980467e-01 1.10052085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:111.32, Z:1.10 [[ 5.17206072e-02 -9.98661499e-01 -4.35285821e-04 1.32143869e+02] [ 9.98642041e-01 5.17223171e-02 -6.23508710e-03 1.11315678e+02] [ 6.24925542e-03 -1.12212230e-04 9.99980467e-01 1.10026549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:111.34, Z:1.10 [[ 5.53728041e-02 -9.98465665e-01 -4.10443886e-04 1.32150511e+02] [ 9.98446188e-01 5.53742878e-02 -6.23685777e-03 1.11344314e+02] [ 6.25001638e-03 -6.44538292e-05 9.99980466e-01 1.10396934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:111.37, Z:1.11 [[ 5.62527798e-02 -9.98416460e-01 -4.44410195e-04 1.32153680e+02] [ 9.98396999e-01 5.62544584e-02 -6.23443655e-03 1.11372573e+02] [ 6.24956413e-03 -9.29934180e-05 9.99980467e-01 1.10543926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:111.40, Z:1.11 [[ 5.66643686e-02 -9.98393190e-01 -4.33972604e-04 1.32156499e+02] [ 9.98373723e-01 5.66659740e-02 -6.23517706e-03 1.11400450e+02] [ 6.24974980e-03 -7.99544728e-05 9.99980467e-01 1.10595475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:111.43, Z:1.11 [[ 5.73016187e-02 -9.98356815e-01 -4.40999794e-04 1.32158888e+02] [ 9.98337351e-01 5.73032555e-02 -6.23468001e-03 1.11426188e+02] [ 6.24970600e-03 -8.30093095e-05 9.99980467e-01 1.10619544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:111.45, Z:1.11 [[ 5.95484926e-02 -9.98225318e-01 -4.38798643e-04 1.32162451e+02] [ 9.98205848e-01 5.95500719e-02 -6.23483492e-03 1.11453750e+02] [ 6.24990056e-03 -6.67363503e-05 9.99980467e-01 1.10672684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:111.48, Z:1.11 [[ 6.07770356e-02 -9.98151272e-01 -4.37043829e-04 1.32164896e+02] [ 9.98131800e-01 6.07785799e-02 -6.23495793e-03 1.11481942e+02] [ 6.24999409e-03 -5.72850833e-05 9.99980467e-01 1.10696275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.17, Y:111.51, Z:1.11 [[ 6.15390363e-02 -9.98104582e-01 -4.35287484e-04 1.32166831e+02] [ 9.98085109e-01 6.15405548e-02 -6.23508054e-03 1.11508683e+02] [ 6.25005029e-03 -5.07531076e-05 9.99980467e-01 1.10647919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:111.54, Z:1.11 [[ 6.26887016e-02 -9.98033035e-01 -4.34005466e-04 1.32169095e+02] [ 9.98013558e-01 6.26901897e-02 -6.23516978e-03 1.11537033e+02] [ 6.25011330e-03 -4.22686417e-05 9.99980467e-01 1.10729372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:111.57, Z:1.11 [[ 6.41312793e-02 -9.97941377e-01 -4.32265020e-04 1.32171803e+02] [ 9.97921898e-01 6.41327283e-02 -6.23529044e-03 1.11565443e+02] [ 6.25017666e-03 -3.14895766e-05 9.99980467e-01 1.10817986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:111.59, Z:1.11 [[ 6.43208897e-02 -9.97929175e-01 -4.30503844e-04 1.32174084e+02] [ 9.97909694e-01 6.43223241e-02 -6.23541203e-03 1.11593097e+02] [ 6.25019059e-03 -2.85367096e-05 9.99980467e-01 1.10844010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:111.62, Z:1.11 [[ 6.46519085e-02 -9.97907785e-01 -4.28756771e-04 1.32176351e+02] [ 9.97888303e-01 6.46533255e-02 -6.23553216e-03 1.11619686e+02] [ 6.25020664e-03 -2.47123118e-05 9.99980467e-01 1.10849916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:111.65, Z:1.11 [[ 6.43020733e-02 -9.97930389e-01 -4.26912792e-04 1.32178474e+02] [ 9.97910907e-01 6.43034856e-02 -6.23565840e-03 1.11646595e+02] [ 6.25020500e-03 -2.50551674e-05 9.99980467e-01 1.10867418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:111.67, Z:1.11 [[ 6.38554342e-02 -9.97959068e-01 -4.25656952e-04 1.32180966e+02] [ 9.97939587e-01 6.38568474e-02 -6.23574413e-03 1.11674826e+02] [ 6.25019851e-03 -2.65937738e-05 9.99980467e-01 1.10901413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:111.70, Z:1.11 [[ 6.31395550e-02 -9.98004618e-01 -4.23951279e-04 1.32183176e+02] [ 9.97985136e-01 6.31409715e-02 -6.23586009e-03 1.11703306e+02] [ 6.25018586e-03 -2.93676431e-05 9.99980467e-01 1.10939210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:132.19, Y:111.73, Z:1.11 [[ 6.22250218e-02 -9.98062056e-01 -4.22244758e-04 1.32185459e+02] [ 9.98042575e-01 6.22264455e-02 -6.23597564e-03 1.11730989e+02] [ 6.25016546e-03 -3.33845252e-05 9.99980467e-01 1.10926711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:111.76, Z:1.11 [[ 6.18993963e-02 -9.98082305e-01 -4.20546674e-04 1.32186851e+02] [ 9.98062824e-01 6.19008157e-02 -6.23609016e-03 1.11758840e+02] [ 6.25016342e-03 -3.37217853e-05 9.99980467e-01 1.10911112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:111.79, Z:1.11 [[ 6.46372400e-02 -9.97908739e-01 -4.18829281e-04 1.32191459e+02] [ 9.97889253e-01 6.46385952e-02 -6.23620550e-03 1.11790757e+02] [ 6.25023650e-03 -1.48541273e-05 9.99980467e-01 1.10756985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:111.81, Z:1.11 [[ 6.15319684e-02 -9.98104994e-01 -4.88716416e-04 1.32188762e+02] [ 9.98085546e-01 6.15338207e-02 -6.23149458e-03 1.11814068e+02] [ 6.24975845e-03 -1.04344663e-04 9.99980465e-01 1.10792399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:111.84, Z:1.11 [[ 6.07835355e-02 -9.98150885e-01 -4.16384464e-04 1.32190240e+02] [ 9.98131403e-01 6.07849507e-02 -6.23632403e-03 1.11842108e+02] [ 6.25010226e-03 -3.65405867e-05 9.99980467e-01 1.10775577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.19, Y:111.87, Z:1.11 [[ 5.84790101e-02 -9.98288552e-01 -4.14637993e-04 1.32191556e+02] [ 9.98269073e-01 5.84804593e-02 -6.23644015e-03 1.11869050e+02] [ 6.25001503e-03 -4.92194383e-05 9.99980467e-01 1.10771346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.19, Y:111.90, Z:1.11 [[ 5.72382458e-02 -9.98360462e-01 -4.12800143e-04 1.32193470e+02] [ 9.98340984e-01 5.72397078e-02 -6.23656179e-03 1.11896621e+02] [ 6.24996528e-03 -5.51454445e-05 9.99980467e-01 1.10850567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:111.92, Z:1.11 [[ 5.57243309e-02 -9.98446108e-01 -4.11065205e-04 1.32195230e+02] [ 9.98426631e-01 5.57258116e-02 -6.23667615e-03 1.11924430e+02] [ 6.24989197e-03 -6.28838424e-05 9.99980467e-01 1.10924078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.581858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.20, Y:111.95, Z:1.11 [[ 5.43710910e-02 -9.98520714e-01 -4.09333151e-04 1.32196632e+02] [ 9.98501239e-01 5.43725872e-02 -6.23678982e-03 1.11952729e+02] [ 6.24982033e-03 -6.96185917e-05 9.99980467e-01 1.10960038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:111.98, Z:1.11 [[ 5.54415315e-02 -9.98461852e-01 -4.07575860e-04 1.32204005e+02] [ 9.98442375e-01 5.54429959e-02 -6.23690466e-03 1.11984367e+02] [ 6.24990861e-03 -6.11574633e-05 9.99980467e-01 1.11030630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.641858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.20, Y:112.01, Z:1.11 [[ 4.96830370e-02 -9.98764906e-01 -5.08494362e-04 1.32198593e+02] [ 9.98745493e-01 4.96852433e-02 -6.23026647e-03 1.12005643e+02] [ 6.24783617e-03 -1.98317893e-04 9.99980462e-01 1.10962111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:112.03, Z:1.11 [[ 4.77247522e-02 -9.98860443e-01 -4.04216952e-04 1.32199937e+02] [ 9.98840976e-01 4.77263460e-02 -6.23703872e-03 1.12033653e+02] [ 6.24922306e-03 -1.06087328e-04 9.99980468e-01 1.10953002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.701858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.20, Y:112.06, Z:1.11 [[ 4.66951958e-02 -9.98909101e-01 -4.08228331e-04 1.32200777e+02] [ 9.98889638e-01 4.66968347e-02 -6.23677894e-03 1.12057930e+02] [ 6.24903822e-03 -1.16547436e-04 9.99980468e-01 1.10926353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.731858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.20, Y:112.09, Z:1.11 [[ 4.42253408e-02 -9.99021512e-01 -3.70056719e-04 1.32201909e+02] [ 9.99002034e-01 4.42267896e-02 -6.23924430e-03 1.12086076e+02] [ 6.24950570e-03 -9.37547093e-05 9.99980467e-01 1.10939085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.20, Y:112.11, Z:1.11 [[ 4.37977452e-02 -9.99040337e-01 -4.02551894e-04 1.32203192e+02] [ 9.99020876e-01 4.37994052e-02 -6.23714704e-03 1.12113665e+02] [ 6.24879301e-03 -1.28984769e-04 9.99980468e-01 1.10928512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:112.14, Z:1.11 [[ 4.23889291e-02 -9.99101105e-01 -4.01214986e-04 1.32204280e+02] [ 9.99081645e-01 4.23906081e-02 -6.23723309e-03 1.12141336e+02] [ 6.24863422e-03 -1.36456897e-04 9.99980468e-01 1.10916136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:112.17, Z:1.11 [[ 4.55333341e-02 -9.98962731e-01 -4.21380239e-04 1.32210838e+02] [ 9.98943277e-01 4.55350778e-02 -6.23593409e-03 1.12173995e+02] [ 6.24865333e-03 -1.36992087e-04 9.99980468e-01 1.10942310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:112.20, Z:1.11 [[ 4.15046881e-02 -9.99138175e-01 -5.17336035e-04 1.32204361e+02] [ 9.99118787e-01 4.15071083e-02 -6.22975439e-03 1.12195823e+02] [ 6.24585856e-03 -2.58316139e-04 9.99980461e-01 1.10817852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.881858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.20, Y:112.22, Z:1.11 [[ 4.10884044e-02 -9.99155437e-01 -3.95039007e-04 1.32204866e+02] [ 9.99135977e-01 4.10900703e-02 -6.23749986e-03 1.12222538e+02] [ 6.24846408e-03 -1.38408767e-04 9.99980469e-01 1.10821449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.911858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:132.21, Y:112.25, Z:1.11 [[ 4.27739921e-02 -9.99084697e-01 -3.92946909e-04 1.32205331e+02] [ 9.99065233e-01 4.27756120e-02 -6.23763166e-03 1.12247553e+02] [ 6.24873088e-03 -1.25771188e-04 9.99980469e-01 1.10855231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.941858064 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:132.20, Y:112.28, Z:1.11 [[ 4.36430656e-02 -9.99047118e-01 -3.73618245e-04 1.32204815e+02] [ 9.99027642e-01 4.36445480e-02 -6.23884681e-03 1.12275751e+02] [ 6.24920832e-03 -1.00972554e-04 9.99980468e-01 1.10802582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.971858064 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:132.20, Y:112.30, Z:1.11 [[ 3.81111472e-02 -9.99273430e-01 -3.90922774e-04 1.32199361e+02] [ 9.99253972e-01 3.81128454e-02 -6.23776233e-03 1.12298108e+02] [ 6.24812934e-03 -1.52902856e-04 9.99980469e-01 1.10574508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.001858064 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:132.21, Y:112.33, Z:1.11 [[ 4.51436301e-02 -9.98980464e-01 -2.91990404e-04 1.32206068e+02] [ 9.98960951e-01 4.51445733e-02 -6.24389846e-03 1.12330958e+02] [ 6.25071436e-03 -9.81476878e-06 9.99980464e-01 1.10841540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.031858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:132.21, Y:112.36, Z:1.11 [[ 4.81690268e-02 -9.98839123e-01 -3.88845260e-04 1.32208651e+02] [ 9.98819649e-01 4.81705160e-02 -6.23786091e-03 1.12362811e+02] [ 6.24935040e-03 -8.79145970e-05 9.99980469e-01 1.11035589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.061858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:132.21, Y:112.39, Z:1.11 [[ 4.69415832e-02 -9.98897532e-01 -4.56247585e-04 1.32205698e+02] [ 9.98878095e-01 4.69435170e-02 -6.23364475e-03 1.12387124e+02] [ 6.24819022e-03 -1.63118565e-04 9.99980467e-01 1.11003141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.091858064 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:132.21, Y:112.42, Z:1.11 [[ 4.74280332e-02 -9.98874583e-01 -3.86426419e-04 1.32206682e+02] [ 9.98855109e-01 4.74295218e-02 -6.23797001e-03 1.12417296e+02] [ 6.24927771e-03 -9.01293535e-05 9.99980469e-01 1.11035325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.121858064 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:132.21, Y:112.44, Z:1.11 [[ 4.80389694e-02 -9.98845370e-01 -4.29468274e-04 1.32206178e+02] [ 9.98825916e-01 4.80407147e-02 -6.23530431e-03 1.12442068e+02] [ 6.24873680e-03 -1.29426450e-04 9.99980468e-01 1.10985020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.151858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.21, Y:112.47, Z:1.11 [[ 4.83973649e-02 -9.98828088e-01 -3.82492315e-04 1.32208741e+02] [ 9.98808610e-01 4.83988100e-02 -6.23818463e-03 1.12472541e+02] [ 6.24938620e-03 -8.01249197e-05 9.99980469e-01 1.10981002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:112.50, Z:1.11 [[ 4.96772198e-02 -9.98765234e-01 -4.25422366e-04 1.32206787e+02] [ 9.98745775e-01 4.96789080e-02 -6.23555265e-03 1.12498131e+02] [ 6.24898772e-03 -1.15123872e-04 9.99980468e-01 1.10872044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21185806399998 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:132.21, Y:112.53, Z:1.11 [[ 4.97639498e-02 -9.98760935e-01 -3.79101209e-04 1.32206954e+02] [ 9.98741455e-01 4.97653471e-02 -6.23836756e-03 1.12526326e+02] [ 6.24950392e-03 -6.81782834e-05 9.99980469e-01 1.10594132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:112.55, Z:1.11 [[ 4.98362755e-02 -9.98757321e-01 -3.99693426e-04 1.32206638e+02] [ 9.98737850e-01 4.98378000e-02 -6.23712112e-03 1.12553319e+02] [ 6.24929022e-03 -8.83540664e-05 9.99980469e-01 1.10950433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:112.58, Z:1.11 [[ 5.27231475e-02 -9.98609094e-01 -3.83886840e-04 1.32208031e+02] [ 9.98589611e-01 5.27245169e-02 -6.23805883e-03 1.12581309e+02] [ 6.24962252e-03 -5.44553144e-05 9.99980469e-01 1.10786746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:112.61, Z:1.11 [[ 5.14170483e-02 -9.98677200e-01 -3.71108239e-04 1.32208599e+02] [ 9.98657714e-01 5.14183634e-02 -6.23881236e-03 1.12609767e+02] [ 6.24964144e-03 -4.98287891e-05 9.99980470e-01 1.11020926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:112.64, Z:1.11 [[ 5.15143492e-02 -9.98672179e-01 -3.89288755e-04 1.32210245e+02] [ 9.98652700e-01 5.15157759e-02 -6.23773323e-03 1.12637872e+02] [ 6.24950514e-03 -6.74314992e-05 9.99980469e-01 1.10983865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.361858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.21, Y:112.66, Z:1.11 [[ 5.24020389e-02 -9.98625993e-01 -3.90622633e-04 1.32210858e+02] [ 9.98606514e-01 5.24034566e-02 -6.23765433e-03 1.12663466e+02] [ 6.24955372e-03 -6.32125013e-05 9.99980469e-01 1.11075417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.391858064 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:132.21, Y:112.69, Z:1.11 [[ 5.10064686e-02 -9.98698256e-01 -3.66895625e-04 1.32210878e+02] [ 9.98678768e-01 5.10077654e-02 -6.23904963e-03 1.12691254e+02] [ 6.24964251e-03 -4.81789820e-05 9.99980470e-01 1.10899812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.421858064 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:132.21, Y:112.72, Z:1.11 [[ 4.89828441e-02 -9.98799546e-01 -3.84537319e-04 1.32212007e+02] [ 9.98780069e-01 4.89842905e-02 -6.23802707e-03 1.12719295e+02] [ 6.24937489e-03 -7.85119021e-05 9.99980469e-01 1.10872698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.451858064 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:132.21, Y:112.75, Z:1.11 [[ 4.70873448e-02 -9.98890697e-01 -3.96905264e-04 1.32212685e+02] [ 9.98871228e-01 4.70889054e-02 -6.23731603e-03 1.12745932e+02] [ 6.24908679e-03 -1.02758598e-04 9.99980469e-01 1.10841352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.481858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:132.21, Y:112.77, Z:1.11 [[ 4.49069583e-02 -9.98991101e-01 -3.81394187e-04 1.32213192e+02] [ 9.98971629e-01 4.49084646e-02 -6.23819175e-03 1.12773333e+02] [ 6.24902587e-03 -1.00863755e-04 9.99980470e-01 1.10894870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.511858064 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:132.21, Y:112.80, Z:1.11 [[ 4.29755106e-02 -9.99076060e-01 -3.62697013e-04 1.32214429e+02] [ 9.99056582e-01 4.29769378e-02 -6.23923426e-03 1.12798885e+02] [ 6.24905719e-03 -9.42205602e-05 9.99980470e-01 1.10754494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.541858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.21, Y:112.83, Z:1.11 [[ 4.01679104e-02 -9.99192889e-01 -3.29721197e-04 1.32214056e+02] [ 9.99173401e-01 4.01691864e-02 -6.24104484e-03 1.12826668e+02] [ 6.24925226e-03 -7.87589195e-05 9.99980470e-01 1.10705725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.571858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.21, Y:112.85, Z:1.11 [[ 3.66463879e-02 -9.99328238e-01 -3.40579601e-04 1.32212950e+02] [ 9.99308759e-01 3.66478004e-02 -6.24045223e-03 1.12852362e+02] [ 6.24874162e-03 -1.11654145e-04 9.99980470e-01 1.10711103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.21, Y:112.88, Z:1.11 [[ 3.65555849e-02 -9.99331580e-01 -2.87798235e-04 1.32214405e+02] [ 9.99312079e-01 3.65566695e-02 -6.24331046e-03 1.12879845e+02] [ 6.24965825e-03 -5.93723874e-05 9.99980469e-01 1.10726353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.631858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.22, Y:112.91, Z:1.11 [[ 3.64326714e-02 -9.99336069e-01 -2.85812140e-04 1.32216846e+02] [ 9.99316567e-01 3.64337461e-02 -6.24341765e-03 1.12909960e+02] [ 6.24968566e-03 -5.81524224e-05 9.99980469e-01 1.10823226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:132.22, Y:112.94, Z:1.11 [[ 3.57605746e-02 -9.99360329e-01 -3.37620157e-04 1.32216791e+02] [ 9.99340850e-01 3.57619859e-02 -6.24061482e-03 1.12935873e+02] [ 6.24869685e-03 -1.14229643e-04 9.99980470e-01 1.10710208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.691858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.22, Y:112.96, Z:1.11 [[ 3.51470476e-02 -9.99382102e-01 -3.16165583e-04 1.32217605e+02] [ 9.99362614e-01 3.51483369e-02 -6.24176786e-03 1.12962762e+02] [ 6.24902378e-03 -9.65843520e-05 9.99980470e-01 1.10682202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:112.99, Z:1.11 [[ 3.38541434e-02 -9.99426734e-01 -3.16028450e-04 1.32217749e+02] [ 9.99407248e-01 3.38554571e-02 -6.24177521e-03 1.12991765e+02] [ 6.24889631e-03 -1.04531170e-04 9.99980470e-01 1.10751501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:113.02, Z:1.11 [[ 3.34810386e-02 -9.99439297e-01 -3.33704686e-04 1.32218448e+02] [ 9.99419820e-01 3.34824699e-02 -6.24083005e-03 1.13018433e+02] [ 6.24850405e-03 -1.24561605e-04 9.99980470e-01 1.10739156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:113.04, Z:1.10 [[ 2.46279153e-02 -9.99696632e-01 -3.31875700e-04 1.32207677e+02] [ 9.99677167e-01 2.46295077e-02 -6.24092731e-03 1.13035462e+02] [ 6.24720794e-03 -1.78067530e-04 9.99980470e-01 1.10159619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:113.07, Z:1.11 [[ 3.38563171e-02 -9.99426701e-01 -1.41732885e-04 1.32218910e+02] [ 9.99407155e-01 3.38565414e-02 -6.25080295e-03 1.13073549e+02] [ 6.25201795e-03 6.99803068e-05 9.99980454e-01 1.10781287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:113.10, Z:1.11 [[ 3.35120752e-02 -9.99438258e-01 -3.30004222e-04 1.32219781e+02] [ 9.99418780e-01 3.35134827e-02 -6.24084763e-03 1.13100422e+02] [ 6.24840148e-03 -1.20668663e-04 9.99980471e-01 1.10807161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:113.12, Z:1.11 [[ 3.49049940e-02 -9.99390581e-01 -3.28764600e-04 1.32219632e+02] [ 9.99371101e-01 3.49063666e-02 -6.24091293e-03 1.13123457e+02] [ 6.24858558e-03 -1.10718812e-04 9.99980471e-01 1.10725570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.22, Y:113.15, Z:1.11 [[ 3.45600432e-02 -9.99402590e-01 -2.57686528e-04 1.32220168e+02] [ 9.99383081e-01 3.45609787e-02 -6.24467972e-03 1.13152124e+02] [ 6.24985499e-03 -4.17111555e-05 9.99980469e-01 1.10873525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93185806399998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.22, Y:113.18, Z:1.11 [[ 3.53810834e-02 -9.99373855e-01 -2.78399452e-04 1.32221209e+02] [ 9.99354353e-01 3.53821323e-02 -6.24356285e-03 1.13179008e+02] [ 6.24950384e-03 -5.73156867e-05 9.99980470e-01 1.10805297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:113.21, Z:1.11 [[ 3.58737291e-02 -9.99356296e-01 -2.63260086e-04 1.32222794e+02] [ 9.99336788e-01 3.58746738e-02 -6.24436317e-03 1.13206008e+02] [ 6.24978802e-03 -3.90768962e-05 9.99980469e-01 1.10747317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.22, Y:113.23, Z:1.11 [[ 3.69133984e-02 -9.99318431e-01 -2.72868356e-04 1.32223518e+02] [ 9.99298926e-01 3.69143828e-02 -6.24384595e-03 1.13232940e+02] [ 6.24966311e-03 -4.21954817e-05 9.99980470e-01 1.10757652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02185806399999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:132.23, Y:113.26, Z:1.11 [[ 3.91318257e-02 -9.99234024e-01 -2.54889938e-04 1.32227114e+02] [ 9.99214511e-01 3.91326545e-02 -6.24478562e-03 1.13263195e+02] [ 6.24997679e-03 -1.03198625e-05 9.99980469e-01 1.10594225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.051858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:132.23, Y:113.29, Z:1.11 [[ 3.64024045e-02 -9.99337165e-01 -3.09867275e-04 1.32226478e+02] [ 9.99317674e-01 3.64036299e-02 -6.24191191e-03 1.13290335e+02] [ 6.24905485e-03 -8.24352423e-05 9.99980471e-01 1.10831179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.081858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.23, Y:113.31, Z:1.11 [[ 3.82772708e-02 -9.99267104e-01 -3.25181089e-04 1.32226364e+02] [ 9.99247617e-01 3.82785554e-02 -6.24111402e-03 1.13312812e+02] [ 6.24898739e-03 -8.60436170e-05 9.99980471e-01 1.10767704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.23, Y:113.34, Z:1.11 [[ 3.63534761e-02 -9.99338969e-01 -2.21745158e-04 1.32229522e+02] [ 9.99319448e-01 3.63541520e-02 -6.24639988e-03 1.13344409e+02] [ 6.25033217e-03 5.48409968e-06 9.99980466e-01 1.10775491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.23, Y:113.37, Z:1.11 [[ 3.58533101e-02 -9.99357012e-01 -3.20653120e-04 1.32231358e+02] [ 9.99337527e-01 3.58546136e-02 -6.24131843e-03 1.13372238e+02] [ 6.24880223e-03 -9.66687707e-05 9.99980471e-01 1.10758005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.171858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.23, Y:113.40, Z:1.11 [[ 3.53450981e-02 -9.99375116e-01 -3.18955796e-04 1.32233257e+02] [ 9.99355631e-01 3.53464009e-02 -6.24140517e-03 1.13400227e+02] [ 6.24877895e-03 -9.81471927e-05 9.99980471e-01 1.10777786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.24, Y:113.43, Z:1.11 [[ 3.35936416e-02 -9.99435524e-01 -3.17176544e-04 1.32235388e+02] [ 9.99416040e-01 3.35949675e-02 -6.24149558e-03 1.13428287e+02] [ 6.24862795e-03 -1.07316760e-04 9.99980471e-01 1.10752733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:113.45, Z:1.11 [[ 3.16474129e-02 -9.99499045e-01 -3.15400773e-04 1.32233630e+02] [ 9.99479564e-01 3.16487657e-02 -6.24158532e-03 1.13451456e+02] [ 6.24844061e-03 -1.17706599e-04 9.99980471e-01 1.10505217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.24, Y:113.48, Z:1.11 [[ 3.28496521e-02 -9.99460281e-01 -2.15834890e-04 1.32238978e+02] [ 9.99440761e-01 3.28503595e-02 -6.24655169e-03 1.13481705e+02] [ 6.25027056e-03 -1.05171370e-05 9.99980467e-01 1.10563811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.24, Y:113.51, Z:1.11 [[ 2.96568670e-02 -9.99560104e-01 -2.62519622e-04 1.32243092e+02] [ 9.99540603e-01 2.96579284e-02 -6.24418864e-03 1.13513189e+02] [ 6.24922763e-03 -7.72159488e-05 9.99980470e-01 1.10847384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.25, Y:113.54, Z:1.11 [[ 2.88110630e-02 -9.99584822e-01 -3.26386437e-04 1.32245205e+02] [ 9.99565350e-01 2.88125396e-02 -6.24095030e-03 1.13539993e+02] [ 6.24776322e-03 -1.46436160e-04 9.99980472e-01 1.10826610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.25, Y:113.57, Z:1.11 [[ 2.83329674e-02 -9.99598491e-01 -3.15334190e-04 1.32248052e+02] [ 9.99579015e-01 2.83343842e-02 -6.24150869e-03 1.13567887e+02] [ 6.24793747e-03 -1.38360977e-04 9.99980472e-01 1.10852467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:113.59, Z:1.11 [[ 2.83361205e-02 -9.99598402e-01 -3.13600187e-04 1.32249883e+02] [ 9.99578925e-01 2.83375265e-02 -6.24159581e-03 1.13594448e+02] [ 6.24797585e-03 -1.36605527e-04 9.99980472e-01 1.10865272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.411858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.25, Y:113.62, Z:1.11 [[ 2.84372260e-02 -9.99595532e-01 -3.12335047e-04 1.32252116e+02] [ 9.99576053e-01 2.84386221e-02 -6.24165912e-03 1.13623147e+02] [ 6.24801694e-03 -1.34707163e-04 9.99980472e-01 1.10834481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:113.65, Z:1.11 [[ 2.99294236e-02 -9.99551963e-01 -3.20330114e-04 1.32254542e+02] [ 9.99532486e-01 2.99308406e-02 -6.24126117e-03 1.13652146e+02] [ 6.24805260e-03 -1.33383006e-04 9.99980472e-01 1.10890629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.471858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.25, Y:113.67, Z:1.10 [[ 2.64462353e-02 -9.99650184e-01 -3.26286532e-04 1.32250498e+02] [ 9.99630715e-01 2.64477573e-02 -6.24096580e-03 1.13674094e+02] [ 6.24741216e-03 -1.61115989e-04 9.99980472e-01 1.10492092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.26, Y:113.71, Z:1.11 [[ 3.39415487e-02 -9.99423791e-01 -2.37824185e-04 1.32259343e+02] [ 9.99404278e-01 3.39423721e-02 -6.24531527e-03 1.13709041e+02] [ 6.24978899e-03 -2.57068361e-05 9.99980470e-01 1.10895573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.531858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.26, Y:113.73, Z:1.11 [[ 3.52880922e-02 -9.99377118e-01 -3.56761361e-04 1.32259916e+02] [ 9.99357650e-01 3.52896321e-02 -6.23932857e-03 1.13731904e+02] [ 6.24803218e-03 -1.36358194e-04 9.99980472e-01 1.10957705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561858064 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:132.27, Y:113.76, Z:1.11 [[ 3.97165217e-02 -9.99210946e-01 -2.90388193e-04 1.32265981e+02] [ 9.99191446e-01 3.97175608e-02 -6.24261710e-03 1.13764853e+02] [ 6.24922485e-03 -4.22183606e-05 9.99980473e-01 1.10725501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.591858064 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:132.27, Y:113.79, Z:1.11 [[ 4.29283021e-02 -9.99078072e-01 -4.09731088e-04 1.32267877e+02] [ 9.99058616e-01 4.29300238e-02 -6.23665164e-03 1.13786886e+02] [ 6.24849166e-03 -1.41616508e-04 9.99980468e-01 1.10992673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:113.81, Z:1.11 [[ 3.89674376e-02 -9.99240434e-01 -3.06339473e-04 1.32264191e+02] [ 9.99220941e-01 3.89685910e-02 -6.24172606e-03 1.13813285e+02] [ 6.24892267e-03 -6.28767463e-05 9.99980473e-01 1.10990907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.27, Y:113.84, Z:1.11 [[ 4.01384105e-02 -9.99194083e-01 -3.03913388e-04 1.32266632e+02] [ 9.99174588e-01 4.01395259e-02 -6.24184418e-03 1.13841675e+02] [ 6.24901271e-03 -5.31248299e-05 9.99980473e-01 1.11007287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.27, Y:113.87, Z:1.11 [[ 4.25698635e-02 -9.99093447e-01 -3.02196676e-04 1.32273322e+02] [ 9.99073949e-01 4.25709207e-02 -6.24192730e-03 1.13873999e+02] [ 6.24913345e-03 -3.61988337e-05 9.99980473e-01 1.11031314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71185806399998 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:132.28, Y:113.90, Z:1.11 [[ 4.63858601e-02 -9.98923528e-01 -3.71445981e-04 1.32278730e+02] [ 9.98904051e-01 4.63872754e-02 -6.23845351e-03 1.13898815e+02] [ 6.24896835e-03 -8.16628638e-05 9.99980472e-01 1.10987948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.28, Y:113.93, Z:1.11 [[ 3.94683201e-02 -9.99220763e-01 -3.45357231e-04 1.32277507e+02] [ 9.99201285e-01 3.94697074e-02 -6.23975143e-03 1.13928067e+02] [ 6.24852033e-03 -9.88088826e-05 9.99980473e-01 1.11073553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.28, Y:113.95, Z:1.11 [[ 3.87924877e-02 -9.99247223e-01 -3.61316008e-04 1.32280513e+02] [ 9.99227753e-01 3.87939877e-02 -6.23897233e-03 1.13954544e+02] [ 6.24829266e-03 -1.19011726e-04 9.99980472e-01 1.11047682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.28, Y:113.98, Z:1.11 [[ 3.75265504e-02 -9.99295563e-01 -3.67711517e-04 1.32279592e+02] [ 9.99276098e-01 3.75281151e-02 -6.23866166e-03 1.13975853e+02] [ 6.24806644e-03 -1.33329879e-04 9.99980472e-01 1.11178293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.29, Y:114.01, Z:1.11 [[ 3.40419736e-02 -9.99420371e-01 -2.55640347e-04 1.32285350e+02] [ 9.99400867e-01 3.40429063e-02 -6.24399308e-03 1.14006894e+02] [ 6.24907663e-03 -4.29293373e-05 9.99980473e-01 1.10977702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.29, Y:114.03, Z:1.11 [[ 3.55212386e-02 -9.99368866e-01 -3.33583704e-04 1.32288526e+02] [ 9.99349389e-01 3.55226293e-02 -6.24032583e-03 1.14032885e+02] [ 6.24823711e-03 -1.11702568e-04 9.99980473e-01 1.10953640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.891858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:132.29, Y:114.06, Z:1.11 [[ 3.37506772e-02 -9.99430241e-01 -2.93499111e-04 1.32288199e+02] [ 9.99410750e-01 3.37518521e-02 -6.24219265e-03 1.14057414e+02] [ 6.24854224e-03 -8.26479376e-05 9.99980474e-01 1.11039885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.30, Y:114.09, Z:1.11 [[ 3.48224918e-02 -9.99393486e-01 -2.32722209e-04 1.32295030e+02] [ 9.99373974e-01 3.48232662e-02 -6.24498618e-03 1.14090110e+02] [ 6.24930266e-03 -1.51105393e-05 9.99980473e-01 1.10798046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.30, Y:114.12, Z:1.11 [[ 3.32182507e-02 -9.99448073e-01 -3.11948656e-04 1.32297251e+02] [ 9.99428590e-01 3.32195512e-02 -6.24143714e-03 1.14122131e+02] [ 6.24835512e-03 -1.04440781e-04 9.99980473e-01 1.10946440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.981858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.30, Y:114.15, Z:1.11 [[ 3.54548740e-02 -9.99371209e-01 -3.71137682e-04 1.32299906e+02] [ 9.99351747e-01 3.54565005e-02 -6.23877104e-03 1.14146599e+02] [ 6.24800740e-03 -1.49702249e-04 9.99980470e-01 1.10855623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.30, Y:114.17, Z:1.11 [[ 3.08851249e-02 -9.99522886e-01 -3.31780962e-04 1.32296374e+02] [ 9.99503414e-01 3.08865947e-02 -6.24054118e-03 1.14171721e+02] [ 6.24781131e-03 -1.38876310e-04 9.99980473e-01 1.11040045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.041858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.30, Y:114.20, Z:1.11 [[ 3.15915850e-02 -9.99500826e-01 -2.65946663e-04 1.32299501e+02] [ 9.99481328e-01 3.15926300e-02 -6.24346671e-03 1.14199028e+02] [ 6.24875209e-03 -6.85677151e-05 9.99980474e-01 1.10950346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.071858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.30, Y:114.23, Z:1.11 [[ 3.20848219e-02 -9.99485117e-01 -2.56217024e-04 1.32301322e+02] [ 9.99465615e-01 3.20857964e-02 -6.24389593e-03 1.14226200e+02] [ 6.24890198e-03 -5.57458167e-05 9.99980474e-01 1.10997531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.30, Y:114.25, Z:1.11 [[ 3.22355402e-02 -9.99480269e-01 -2.47802361e-04 1.32302573e+02] [ 9.99460765e-01 3.22364592e-02 -6.24426550e-03 1.14254759e+02] [ 6.24900844e-03 -4.63814658e-05 9.99980474e-01 1.11103173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.31, Y:114.29, Z:1.11 [[ 3.53229496e-02 -9.99375916e-01 -2.59116836e-04 1.32307560e+02] [ 9.99356412e-01 3.53238791e-02 -6.24376877e-03 1.14288160e+02] [ 6.24902515e-03 -3.84017418e-05 9.99980474e-01 1.11110162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.161858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:132.30, Y:114.31, Z:1.11 [[ 3.32784725e-02 -9.99446054e-01 -3.57949971e-04 1.32304136e+02] [ 9.99426589e-01 3.32800590e-02 -6.23939115e-03 1.14311670e+02] [ 6.24784746e-03 -1.50107313e-04 9.99980471e-01 1.11146322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.191858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.31, Y:114.34, Z:1.11 [[ 3.52642042e-02 -9.99377988e-01 -2.68506264e-04 1.32307234e+02] [ 9.99358488e-01 3.52651936e-02 -6.24328622e-03 1.14342003e+02] [ 6.24887175e-03 -4.81694935e-05 9.99980474e-01 1.11191317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.221858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.30, Y:114.37, Z:1.11 [[ 3.41718409e-02 -9.99415921e-01 -3.20666779e-04 1.32304761e+02] [ 9.99396440e-01 3.41731773e-02 -6.24102264e-03 1.14367779e+02] [ 6.24833559e-03 -1.07206004e-04 9.99980473e-01 1.11129386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.251858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:132.31, Y:114.40, Z:1.11 [[ 3.45907349e-02 -9.99401526e-01 -2.67017979e-04 1.32305200e+02] [ 9.99382026e-01 3.45917281e-02 -6.24331713e-03 1.14395085e+02] [ 6.24881728e-03 -5.08920411e-05 9.99980475e-01 1.11169731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281858064 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:132.31, Y:114.42, Z:1.11 [[ 3.43704594e-02 -9.99409126e-01 -2.65173230e-04 1.32305983e+02] [ 9.99389626e-01 3.43714453e-02 -6.24339548e-03 1.14423350e+02] [ 6.24882081e-03 -5.04230044e-05 9.99980475e-01 1.11204050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.311858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:132.31, Y:114.45, Z:1.11 [[ 3.30763277e-02 -9.99452794e-01 -2.63455269e-04 1.32306103e+02] [ 9.99433294e-01 3.30773282e-02 -6.24346797e-03 1.14451262e+02] [ 6.24876591e-03 -5.67949741e-05 9.99980475e-01 1.11178105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.341858064 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:132.31, Y:114.48, Z:1.11 [[ 3.16751624e-02 -9.99498182e-01 -2.61753755e-04 1.32306583e+02] [ 9.99478683e-01 3.16761796e-02 -6.24353931e-03 1.14477299e+02] [ 6.24869755e-03 -6.38521766e-05 9.99980475e-01 1.11193976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.371858064 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:132.31, Y:114.50, Z:1.11 [[ 3.03590695e-02 -9.99539023e-01 -2.59749262e-04 1.32307455e+02] [ 9.99519525e-01 3.03600998e-02 -6.24362270e-03 1.14503122e+02] [ 6.24863055e-03 -7.00738835e-05 9.99980475e-01 1.11190805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.401858064 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:132.31, Y:114.53, Z:1.11 [[ 2.60967581e-02 -9.99659388e-01 -2.57763210e-04 1.32307753e+02] [ 9.99639894e-01 2.60978591e-02 -6.24370469e-03 1.14532545e+02] [ 6.24830508e-03 -9.47299367e-05 9.99980475e-01 1.11242421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43185806399998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:132.31, Y:114.56, Z:1.11 [[ 2.43121794e-02 -9.99704372e-01 -2.93540969e-04 1.32308492e+02] [ 9.99684894e-01 2.43135386e-02 -6.24222785e-03 1.14559044e+02] [ 6.24751949e-03 -1.41686309e-04 9.99980474e-01 1.11214124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46185806399998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:132.31, Y:114.58, Z:1.11 [[ 2.49659831e-02 -9.99688257e-01 -2.98667334e-04 1.32309563e+02] [ 9.99668779e-01 2.49673616e-02 -6.24201784e-03 1.14582773e+02] [ 6.24752886e-03 -1.42730297e-04 9.99980474e-01 1.11220027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49185806399998 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:132.31, Y:114.61, Z:1.11 [[ 2.05498467e-02 -9.99788798e-01 -2.52452431e-04 1.32310583e+02] [ 9.99769308e-01 2.05510227e-02 -6.24388640e-03 1.14611405e+02] [ 6.24775583e-03 -1.24083284e-04 9.99980475e-01 1.11286610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52185806399999 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:132.31, Y:114.64, Z:1.11 [[ 2.00964789e-02 -9.99798001e-01 -2.97875669e-04 1.32311344e+02] [ 9.99778530e-01 2.00979472e-02 -6.24205065e-03 1.14638385e+02] [ 6.24677645e-03 -1.72366460e-04 9.99980474e-01 1.11305235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.551858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.31, Y:114.66, Z:1.11 [[ 2.07021212e-02 -9.99785645e-01 -2.94751912e-04 1.32312238e+02] [ 9.99766172e-01 2.07035583e-02 -6.24217547e-03 1.14662567e+02] [ 6.24693984e-03 -1.65456717e-04 9.99980474e-01 1.11259523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.581858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:132.31, Y:114.69, Z:1.11 [[ 2.02263558e-02 -9.99795396e-01 -2.45772981e-04 1.32313119e+02] [ 9.99775905e-01 2.02274964e-02 -6.24410333e-03 1.14688442e+02] [ 6.24779713e-03 -1.19422449e-04 9.99980475e-01 1.11211094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.611858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:132.31, Y:114.71, Z:1.11 [[ 2.05747951e-02 -9.99788287e-01 -2.43868604e-04 1.32313417e+02] [ 9.99768794e-01 2.05759171e-02 -6.24417770e-03 1.14714362e+02] [ 6.24787355e-03 -1.15339544e-04 9.99980475e-01 1.11093669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:114.74, Z:1.11 [[ 1.90761784e-02 -9.99818008e-01 -2.24065924e-04 1.32313536e+02] [ 9.99798510e-01 1.90772059e-02 -6.24494519e-03 1.14744649e+02] [ 6.24808321e-03 -1.04891088e-04 9.99980475e-01 1.11192259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.31, Y:114.77, Z:1.11 [[ 1.93372232e-02 -9.99812983e-01 -2.65609928e-04 1.32314154e+02] [ 9.99793500e-01 1.93385050e-02 -6.24334379e-03 1.14771475e+02] [ 6.24731268e-03 -1.44826147e-04 9.99980475e-01 1.11454670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.701858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.32, Y:114.80, Z:1.11 [[ 1.96735101e-02 -9.99806426e-01 -2.50402768e-04 1.32315185e+02] [ 9.99786937e-01 1.96746904e-02 -6.24392286e-03 1.14798809e+02] [ 6.24764079e-03 -1.27509538e-04 9.99980475e-01 1.11436101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.731858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.32, Y:114.83, Z:1.11 [[ 2.00959754e-02 -9.99798025e-01 -2.47691755e-04 1.32316389e+02] [ 9.99778534e-01 2.00971305e-02 -6.24402516e-03 1.14825404e+02] [ 6.24774191e-03 -1.22157124e-04 9.99980475e-01 1.11496241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:114.85, Z:1.12 [[ 2.01573631e-02 -9.99796790e-01 -2.43045912e-04 1.32317580e+02] [ 9.99777298e-01 2.01584880e-02 -6.24419824e-03 1.14853533e+02] [ 6.24782879e-03 -1.17125214e-04 9.99980475e-01 1.11544998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.791858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:132.32, Y:114.88, Z:1.12 [[ 2.11095513e-02 -9.99777139e-01 -2.42308197e-04 1.32318793e+02] [ 9.99757646e-01 2.11106531e-02 -6.24422545e-03 1.14881557e+02] [ 6.24794914e-03 -1.10436675e-04 9.99980475e-01 1.11530071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:114.91, Z:1.12 [[ 2.19141312e-02 -9.99759830e-01 -2.28581932e-04 1.32319276e+02] [ 9.99740331e-01 2.19151316e-02 -6.24472789e-03 1.14908676e+02] [ 6.24823750e-03 -9.16747903e-05 9.99980475e-01 1.11540318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.851858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.32, Y:114.94, Z:1.12 [[ 2.23815873e-02 -9.99749475e-01 -2.26742585e-04 1.32320114e+02] [ 9.99729975e-01 2.23825671e-02 -6.24479467e-03 1.14935624e+02] [ 6.24830528e-03 -8.69129411e-05 9.99980475e-01 1.11562949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:114.96, Z:1.12 [[ 2.25389321e-02 -9.99745941e-01 -2.24922037e-04 1.32320639e+02] [ 9.99726440e-01 2.25398974e-02 -6.24486024e-03 1.14961401e+02] [ 6.24834340e-03 -8.41080263e-05 9.99980475e-01 1.11575368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:114.99, Z:1.12 [[ 2.32364529e-02 -9.99729972e-01 -2.22909858e-04 1.32321400e+02] [ 9.99710470e-01 2.32373920e-02 -6.24493207e-03 1.14989842e+02] [ 6.24842561e-03 -7.77352494e-05 9.99980475e-01 1.11700856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:115.02, Z:1.12 [[ 2.34324671e-02 -9.99725398e-01 -2.21194556e-04 1.32321889e+02] [ 9.99705895e-01 2.34333917e-02 -6.24499282e-03 1.15018155e+02] [ 6.24846127e-03 -7.47939129e-05 9.99980475e-01 1.11741425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.971858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.32, Y:115.05, Z:1.12 [[ 2.39139986e-02 -9.99713995e-01 -2.19486368e-04 1.32321316e+02] [ 9.99694492e-01 2.39149031e-02 -6.24505286e-03 1.15045260e+02] [ 6.24851574e-03 -7.00751280e-05 9.99980475e-01 1.11726312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.001858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.32, Y:115.07, Z:1.12 [[ 2.39079020e-02 -9.99714142e-01 -2.17570633e-04 1.32321533e+02] [ 9.99694637e-01 2.39087947e-02 -6.24511960e-03 1.15073580e+02] [ 6.24853623e-03 -6.81964879e-05 9.99980475e-01 1.11735767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:115.10, Z:1.12 [[ 2.36376973e-02 -9.99720567e-01 -2.15845400e-04 1.32321974e+02] [ 9.99701063e-01 2.36385845e-02 -6.24517923e-03 1.15100871e+02] [ 6.24853640e-03 -6.81592199e-05 9.99980475e-01 1.11739706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:115.14, Z:1.12 [[ 2.76691668e-02 -9.99617112e-01 -2.14027577e-04 1.32329478e+02] [ 9.99597604e-01 2.76699640e-02 -6.24524152e-03 1.15136620e+02] [ 6.24877243e-03 -4.11408232e-05 9.99980475e-01 1.11566729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.091858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.32, Y:115.16, Z:1.12 [[ 2.23418267e-02 -9.99750323e-01 -3.66884340e-04 1.32322682e+02] [ 9.99730876e-01 2.23436820e-02 -6.23989305e-03 1.15155536e+02] [ 6.24653264e-03 -2.27374994e-04 9.99980464e-01 1.11709347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:115.18, Z:1.12 [[ 2.14370406e-02 -9.99770178e-01 -2.11430840e-04 1.32323295e+02] [ 9.99750675e-01 2.14379432e-02 -6.24515603e-03 1.15181781e+02] [ 6.24825340e-03 -7.75004615e-05 9.99980476e-01 1.11699951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.151858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:132.32, Y:115.21, Z:1.12 [[ 2.02596091e-02 -9.99794731e-01 -2.09435094e-04 1.32324090e+02] [ 9.99775229e-01 2.02605222e-02 -6.24522296e-03 1.15209374e+02] [ 6.24818428e-03 -8.28622426e-05 9.99980476e-01 1.11737251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.32, Y:115.24, Z:1.12 [[ 1.83703833e-02 -9.99831229e-01 -2.07723790e-04 1.32324121e+02] [ 9.99811728e-01 1.83713225e-02 -6.24527988e-03 1.15237808e+02] [ 6.24804202e-03 -9.29564965e-05 9.99980476e-01 1.11815336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:115.27, Z:1.12 [[ 1.97043983e-02 -9.99805828e-01 -2.05982436e-04 1.32328341e+02] [ 9.99786326e-01 1.97053006e-02 -6.24533731e-03 1.15270973e+02] [ 6.24818359e-03 -8.28778085e-05 9.99980476e-01 1.11730720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:115.30, Z:1.12 [[ 1.87488006e-02 -9.99824179e-01 -3.05816346e-04 1.32328275e+02] [ 9.99804712e-01 1.87503448e-02 -6.24200342e-03 1.15297787e+02] [ 6.24664011e-03 -1.88726546e-04 9.99980472e-01 1.11775428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27185806399999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:132.32, Y:115.32, Z:1.12 [[ 1.46018648e-02 -9.99893342e-01 -3.00431903e-04 1.32324403e+02] [ 9.99873879e-01 1.46034561e-02 -6.24218158e-03 1.15318707e+02] [ 6.24590314e-03 -2.09246521e-04 9.99980472e-01 1.11916830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.33, Y:115.35, Z:1.12 [[ 1.33932018e-02 -9.99910287e-01 -2.01461199e-04 1.32326886e+02] [ 9.99890789e-01 1.33941990e-02 -6.24537417e-03 1.15349496e+02] [ 6.24751229e-03 -1.17793641e-04 9.99980477e-01 1.11912573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:115.38, Z:1.12 [[ 1.50150882e-02 -9.99887239e-01 -2.39435952e-04 1.32332441e+02] [ 9.99867752e-01 1.50162908e-02 -6.24413501e-03 1.15381694e+02] [ 6.24702635e-03 -1.45648049e-04 9.99980477e-01 1.11633776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:115.41, Z:1.12 [[ 1.02608953e-02 -9.99947307e-01 -3.12808010e-04 1.32329529e+02] [ 9.99927856e-01 1.02626483e-02 -6.24185012e-03 1.15407264e+02] [ 6.24473145e-03 -2.48738472e-04 9.99980471e-01 1.11978632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.391858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.33, Y:115.43, Z:1.12 [[ 8.76062008e-03 -9.99961596e-01 -2.42867053e-04 1.32329665e+02] [ 9.99942119e-01 8.76196595e-03 -6.24392850e-03 1.15433765e+02] [ 6.24581670e-03 -1.88152310e-04 9.99980477e-01 1.11903587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.421858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:132.33, Y:115.46, Z:1.12 [[ 7.75360922e-03 -9.99969916e-01 -2.21994809e-04 1.32329803e+02] [ 9.99950433e-01 7.75484444e-03 -6.24453788e-03 1.15462868e+02] [ 6.24607156e-03 -1.73566099e-04 9.99980478e-01 1.12092547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.451858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.33, Y:115.49, Z:1.12 [[ 7.30543952e-03 -9.99973287e-01 -2.34986682e-04 1.32329061e+02] [ 9.99953810e-01 7.30676456e-03 -6.24416056e-03 1.15489359e+02] [ 6.24571075e-03 -1.89359491e-04 9.99980477e-01 1.12080336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.481858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.33, Y:115.52, Z:1.12 [[ 9.54231504e-03 -9.99954448e-01 -2.14346626e-04 1.32328771e+02] [ 9.99934961e-01 9.54346767e-03 -6.24475562e-03 1.15516655e+02] [ 6.24651677e-03 -1.54743260e-04 9.99980478e-01 1.11852328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.511858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.33, Y:115.54, Z:1.12 [[ 9.91584561e-03 -9.99950813e-01 -2.18365278e-04 1.32326475e+02] [ 9.99931326e-01 9.91701605e-03 -6.24463858e-03 1.15541616e+02] [ 6.24649696e-03 -1.56429410e-04 9.99980478e-01 1.11879129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.541858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.33, Y:115.57, Z:1.12 [[ 1.16599265e-02 -9.99932005e-01 -1.78784243e-04 1.32328808e+02] [ 9.99912504e-01 1.16608158e-02 -6.24577159e-03 1.15571723e+02] [ 6.24743168e-03 -1.05943362e-04 9.99980479e-01 1.11763655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:115.60, Z:1.12 [[ 1.52198554e-02 -9.99884149e-01 -2.09610358e-04 1.32327277e+02] [ 9.99864654e-01 1.52208678e-02 -6.24490532e-03 1.15598030e+02] [ 6.24737230e-03 -1.14535432e-04 9.99980478e-01 1.11931340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:115.63, Z:1.12 [[ 1.55645714e-02 -9.99878851e-01 -1.67079343e-04 1.32327476e+02] [ 9.99859344e-01 1.55653115e-02 -6.24608315e-03 1.15627534e+02] [ 6.24792708e-03 -6.98382351e-05 9.99980479e-01 1.11947141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.631858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.33, Y:115.65, Z:1.12 [[ 1.70614907e-02 -9.99854424e-01 -1.92421248e-04 1.32327155e+02] [ 9.99834922e-01 1.70623598e-02 -6.24537771e-03 1.15653081e+02] [ 6.24775169e-03 -8.58340296e-05 9.99980479e-01 1.11931135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661858064 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:132.33, Y:115.68, Z:1.12 [[ 1.82808340e-02 -9.99832878e-01 -1.65387939e-04 1.32327099e+02] [ 9.99813369e-01 1.82815105e-02 -6.24611546e-03 1.15680193e+02] [ 6.24809514e-03 -5.11728722e-05 9.99980479e-01 1.11906567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:115.71, Z:1.12 [[ 1.90013444e-02 -9.99819442e-01 -1.82398118e-04 1.32327631e+02] [ 9.99799936e-01 1.90021131e-02 -6.24565516e-03 1.15705344e+02] [ 6.24799340e-03 -6.36857813e-05 9.99980479e-01 1.11948772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:115.74, Z:1.12 [[ 1.96502874e-02 -9.99806902e-01 -1.59093779e-04 1.32330374e+02] [ 9.99787391e-01 1.96508978e-02 -6.24627536e-03 1.15735905e+02] [ 6.24819556e-03 -3.63188486e-05 9.99980479e-01 1.11880758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:115.76, Z:1.12 [[ 1.96306679e-02 -9.99807280e-01 -1.97370386e-04 1.32331448e+02] [ 9.99787778e-01 1.96315178e-02 -6.24526378e-03 1.15763107e+02] [ 6.24793488e-03 -7.47298001e-05 9.99980479e-01 1.12182142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.33, Y:115.79, Z:1.12 [[ 1.78194618e-02 -9.99841203e-01 -1.89670374e-04 1.32329855e+02] [ 9.99821700e-01 1.78202990e-02 -6.24546427e-03 1.15788860e+02] [ 6.24785249e-03 -7.83457439e-05 9.99980479e-01 1.12071217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.811858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:132.33, Y:115.82, Z:1.12 [[ 1.78670166e-02 -9.99840359e-01 -1.60417445e-04 1.32330366e+02] [ 9.99820850e-01 1.78676701e-02 -6.24621556e-03 1.15816102e+02] [ 6.24808470e-03 -4.87874692e-05 9.99980479e-01 1.12046926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.33, Y:115.84, Z:1.12 [[ 1.77258269e-02 -9.99842873e-01 -1.58559514e-04 1.32330577e+02] [ 9.99823363e-01 1.77264715e-02 -6.24626272e-03 1.15844332e+02] [ 6.24809197e-03 -4.78113345e-05 9.99980479e-01 1.12025503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:115.88, Z:1.12 [[ 2.03252543e-02 -9.99793408e-01 -1.56818313e-04 1.32333501e+02] [ 9.99773896e-01 2.03258373e-02 -6.24630644e-03 1.15875132e+02] [ 6.24820347e-03 -2.98250893e-05 9.99980479e-01 1.12092240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:132.33, Y:115.90, Z:1.12 [[ 1.85454960e-02 -9.99827999e-01 -1.92759792e-04 1.32331805e+02] [ 9.99808496e-01 1.85463383e-02 -6.24540490e-03 1.15899755e+02] [ 6.24790567e-03 -7.68987456e-05 9.99980479e-01 1.11935950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:115.93, Z:1.12 [[ 1.84057924e-02 -9.99830587e-01 -1.54337300e-04 1.32334728e+02] [ 9.99811076e-01 1.84063974e-02 -6.24635426e-03 1.15930698e+02] [ 6.24813684e-03 -3.93390423e-05 9.99980479e-01 1.11867135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:115.96, Z:1.12 [[ 1.66301015e-02 -9.99861691e-01 -1.95576598e-04 1.32335251e+02] [ 9.99842190e-01 1.66309988e-02 -6.24534180e-03 1.15959030e+02] [ 6.24773064e-03 -9.16850662e-05 9.99980479e-01 1.11762418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.34, Y:115.98, Z:1.12 [[ 1.56208432e-02 -9.99877970e-01 -1.83399418e-04 1.32336132e+02] [ 9.99858468e-01 1.56216841e-02 -6.24563611e-03 1.15984840e+02] [ 6.24773896e-03 -8.58113585e-05 9.99980479e-01 1.11680893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.34, Y:116.01, Z:1.12 [[ 1.20582365e-02 -9.99927283e-01 -1.65216655e-04 1.32336698e+02] [ 9.99907779e-01 1.20590334e-02 -6.24607377e-03 1.16011760e+02] [ 6.24761192e-03 -8.98847841e-05 9.99980479e-01 1.11801129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.34, Y:116.04, Z:1.12 [[ 1.10980254e-02 -9.99938404e-01 -1.48658792e-04 1.32337423e+02] [ 9.99918897e-01 1.10987375e-02 -6.24646783e-03 1.16038384e+02] [ 6.24773299e-03 -7.93232765e-05 9.99980480e-01 1.11877951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:116.07, Z:1.12 [[ 9.29543523e-03 -9.99956788e-01 -1.32350481e-04 1.32339030e+02] [ 9.99937278e-01 9.29608067e-03 -6.24685461e-03 1.16067843e+02] [ 6.24781501e-03 -7.42749476e-05 9.99980479e-01 1.11761147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.111858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:132.34, Y:116.09, Z:1.12 [[ 6.81586518e-03 -9.99976758e-01 -1.68025718e-04 1.32340170e+02] [ 9.99957259e-01 6.81678178e-03 -6.24600960e-03 1.16093572e+02] [ 6.24700983e-03 -1.25446577e-04 9.99980479e-01 1.12013357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:116.12, Z:1.12 [[ 5.57363288e-03 -9.99984457e-01 -1.46273835e-04 1.32341016e+02] [ 9.99964953e-01 5.57443789e-03 -6.24651897e-03 1.16120948e+02] [ 6.24723727e-03 -1.11452905e-04 9.99980480e-01 1.12106623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.171858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.34, Y:116.15, Z:1.12 [[ 4.73557724e-03 -9.99988777e-01 -1.44419238e-04 1.32341489e+02] [ 9.99969273e-01 4.73638701e-03 -6.24656184e-03 1.16148208e+02] [ 6.24717576e-03 -1.14833724e-04 9.99980480e-01 1.12240993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:116.17, Z:1.12 [[ 5.21547508e-03 -9.99986389e-01 -1.42520532e-04 1.32341684e+02] [ 9.99966885e-01 5.21626363e-03 -6.24660516e-03 1.16174382e+02] [ 6.24726357e-03 -1.09936799e-04 9.99980480e-01 1.12298879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.231858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.34, Y:116.20, Z:1.12 [[ 3.41691486e-03 -9.99994155e-01 -1.17657069e-04 1.32339954e+02] [ 9.99974646e-01 3.41758322e-03 -6.24716274e-03 1.16202507e+02] [ 6.24752833e-03 -9.63080628e-05 9.99980479e-01 1.12174269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.261858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.34, Y:116.23, Z:1.12 [[ 3.98227977e-03 -9.99992064e-01 -1.17098061e-04 1.32340767e+02] [ 9.99972554e-01 3.98293361e-03 -6.24717515e-03 1.16228976e+02] [ 6.24759197e-03 -9.22168475e-05 9.99980479e-01 1.12298257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.291858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:132.34, Y:116.26, Z:1.12 [[ 3.02510881e-03 -9.99995417e-01 -1.17447184e-04 1.32340157e+02] [ 9.99975908e-01 3.02578351e-03 -6.24716739e-03 1.16258403e+02] [ 6.24749413e-03 -9.85459931e-05 9.99980479e-01 1.12158616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:132.34, Y:116.28, Z:1.12 [[ 3.95051287e-03 -9.99992185e-01 -1.52663141e-04 1.32340557e+02] [ 9.99972684e-01 3.95138943e-03 -6.24638770e-03 1.16284528e+02] [ 6.24694212e-03 -1.27982536e-04 9.99980479e-01 1.12094981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.351858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:132.34, Y:116.31, Z:1.12 [[ 4.08621535e-03 -9.99991642e-01 -1.36019974e-04 1.32341002e+02] [ 9.99972137e-01 4.08698534e-03 -6.24675010e-03 1.16312118e+02] [ 6.24725380e-03 -1.10490618e-04 9.99980480e-01 1.12087907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.34, Y:116.34, Z:1.12 [[ 4.54482841e-03 -9.99989663e-01 -1.34244489e-04 1.32340313e+02] [ 9.99970157e-01 4.54557837e-03 -6.24678826e-03 1.16338962e+02] [ 6.24733391e-03 -1.05849902e-04 9.99980480e-01 1.12053745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.411858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.34, Y:116.37, Z:1.12 [[ 4.26366567e-03 -9.99990902e-01 -1.32374845e-04 1.32340850e+02] [ 9.99971396e-01 4.26440943e-03 -6.24682788e-03 1.16367544e+02] [ 6.24733554e-03 -1.05736673e-04 9.99980480e-01 1.12071538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:116.40, Z:1.12 [[ 4.54122093e-03 -9.99989680e-01 -1.30618408e-04 1.32340730e+02] [ 9.99970173e-01 4.54194831e-03 -6.24686460e-03 1.16395848e+02] [ 6.24739340e-03 -1.02246120e-04 9.99980480e-01 1.12057124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.471858064 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:132.34, Y:116.42, Z:1.12 [[ 6.10537468e-03 -9.99981354e-01 -1.28866235e-04 1.32339987e+02] [ 9.99961845e-01 6.10606060e-03 -6.24690075e-03 1.16422949e+02] [ 6.24757113e-03 -9.07216488e-05 9.99980480e-01 1.12048992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:132.34, Y:116.45, Z:1.12 [[ 6.80846103e-03 -9.99976814e-01 -1.27588489e-04 1.32339792e+02] [ 9.99957305e-01 6.80912525e-03 -6.24692685e-03 1.16451366e+02] [ 6.24765077e-03 -8.50510837e-05 9.99980480e-01 1.12039674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.531858064 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:132.34, Y:116.48, Z:1.12 [[ 7.66175533e-03 -9.99970640e-01 -1.25831161e-04 1.32339838e+02] [ 9.99951130e-01 7.66239193e-03 -6.24696224e-03 1.16478043e+02] [ 6.24774300e-03 -7.79623153e-05 9.99980480e-01 1.12044971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:116.51, Z:1.12 [[ 8.57561822e-03 -9.99963221e-01 -1.23978435e-04 1.32340061e+02] [ 9.99943710e-01 8.57622542e-03 -6.24699901e-03 1.16505693e+02] [ 6.24783252e-03 -7.03995779e-05 9.99980480e-01 1.12074881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.591858064 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:132.34, Y:116.54, Z:1.12 [[ 1.19025675e-02 -9.99929154e-01 -1.22255379e-04 1.32343885e+02] [ 9.99909641e-01 1.19030990e-02 -6.24703273e-03 1.16538208e+02] [ 6.24804538e-03 -4.78886041e-05 9.99980480e-01 1.12182401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.621858064 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:132.34, Y:116.57, Z:1.12 [[ 1.42668354e-02 -9.99898206e-01 -1.85967426e-04 1.32344495e+02] [ 9.99878704e-01 1.42677187e-02 -6.24572106e-03 1.16566260e+02] [ 6.24773862e-03 -9.68381946e-05 9.99980478e-01 1.12115452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.651858064 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:132.34, Y:116.59, Z:1.12 [[ 1.12015503e-02 -9.99937236e-01 -2.20358530e-04 1.32339799e+02] [ 9.99917746e-01 1.12027082e-02 -6.24501041e-03 1.16587722e+02] [ 6.24708706e-03 -1.50386607e-04 9.99980475e-01 1.11917990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68185806399998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:132.34, Y:116.62, Z:1.12 [[ 1.08267426e-02 -9.99941381e-01 -1.23719775e-04 1.32340271e+02] [ 9.99921870e-01 1.08273042e-02 -6.24692436e-03 1.16615693e+02] [ 6.24789773e-03 -5.60762671e-05 9.99980480e-01 1.11883967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71185806399998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:132.34, Y:116.64, Z:1.12 [[ 1.01561583e-02 -9.99948417e-01 -1.21973318e-04 1.32341130e+02] [ 9.99928906e-01 1.01567221e-02 -6.24695846e-03 1.16642541e+02] [ 6.24787508e-03 -5.85195481e-05 9.99980480e-01 1.11905274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.34, Y:116.67, Z:1.12 [[ 8.83824839e-03 -9.99960935e-01 -1.20133323e-04 1.32342386e+02] [ 9.99941423e-01 8.83882644e-03 -6.24699385e-03 1.16670337e+02] [ 6.24781164e-03 -6.49138028e-05 9.99980480e-01 1.11940644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77185806399999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:132.34, Y:116.70, Z:1.12 [[ 8.11702010e-03 -9.99967049e-01 -1.18411100e-04 1.32343019e+02] [ 9.99947538e-01 8.11760146e-03 -6.24702649e-03 1.16698367e+02] [ 6.24778186e-03 -6.76976482e-05 9.99980480e-01 1.11908830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.801858064 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:132.35, Y:116.73, Z:1.12 [[ 9.30928728e-03 -9.99956661e-01 -1.16688037e-04 1.32348095e+02] [ 9.99937149e-01 9.30983461e-03 -6.24705868e-03 1.16729918e+02] [ 6.24787428e-03 -5.85250390e-05 9.99980480e-01 1.12068330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.831858064 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:132.34, Y:116.75, Z:1.12 [[ 5.36667231e-03 -9.99985579e-01 -2.00400040e-04 1.32343434e+02] [ 9.99966090e-01 5.36781932e-03 -6.24548826e-03 1.16752526e+02] [ 6.24647391e-03 -1.66875755e-04 9.99980477e-01 1.11753289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.861858064 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:132.34, Y:116.78, Z:1.12 [[ 4.09442573e-03 -9.99991612e-01 -1.11883387e-04 1.32343637e+02] [ 9.99972102e-01 4.09504480e-03 -6.24707360e-03 1.16778614e+02] [ 6.24747936e-03 -8.63020863e-05 9.99980481e-01 1.11756775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.891858064 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:132.34, Y:116.80, Z:1.12 [[ 1.54786847e-03 -9.99998796e-01 -1.09872583e-04 1.32344821e+02] [ 9.99979288e-01 1.54852466e-03 -6.24710896e-03 1.16804936e+02] [ 6.24727158e-03 -1.00200604e-04 9.99980481e-01 1.11817022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.921858064 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:132.35, Y:116.83, Z:1.12 [[ 1.23253757e-04 -9.99999987e-01 -1.07894019e-04 1.32345435e+02] [ 9.99980479e-01 1.23925380e-04 -6.24714313e-03 1.16832121e+02] [ 6.24715642e-03 -1.07121929e-04 9.99980481e-01 1.11831693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.951858064 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:132.35, Y:116.86, Z:1.12 [[ 4.58152080e-04 -9.99999889e-01 -1.06032444e-04 1.32345732e+02] [ 9.99980381e-01 4.58805544e-04 -6.24717473e-03 1.16856530e+02] [ 6.24722269e-03 -1.03168208e-04 9.99980481e-01 1.11871238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.981858064 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:132.35, Y:116.88, Z:1.12 [[-2.20626417e-03 -9.99997564e-01 -6.72822593e-05 1.32345020e+02] [ 9.99978049e-01 -2.20580075e-03 -6.24781025e-03 1.16884497e+02] [ 6.24764662e-03 -8.10651024e-05 9.99980480e-01 1.11731699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.011858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:132.35, Y:116.91, Z:1.12 [[-1.51206323e-03 -9.99998852e-01 -1.01963995e-04 1.32345420e+02] [ 9.99979344e-01 -1.51139674e-03 -6.24724420e-03 1.16911984e+02] [ 6.24708292e-03 -1.11408117e-04 9.99980481e-01 1.11720341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.041858064 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:132.35, Y:116.94, Z:1.12 [[-2.01553885e-03 -9.99997965e-01 -8.74186549e-05 1.32345654e+02] [ 9.99978454e-01 -2.01495338e-03 -6.24747757e-03 1.16939115e+02] [ 6.24728871e-03 -1.00008805e-04 9.99980481e-01 1.11692524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.071858064 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:132.35, Y:116.97, Z:1.12 [[-2.08856670e-03 -9.99997814e-01 -9.92347805e-05 1.32345872e+02] [ 9.99978306e-01 -2.08790601e-03 -6.24728988e-03 1.16967314e+02] [ 6.24706903e-03 -1.12280509e-04 9.99980481e-01 1.11618123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101858064 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:132.35, Y:116.99, Z:1.12 [[-2.12882226e-03 -9.99997729e-01 -9.74663453e-05 1.32345553e+02] [ 9.99978221e-01 -2.12817183e-03 -6.24731747e-03 1.16994097e+02] [ 6.24709586e-03 -1.10763651e-04 9.99980481e-01 1.11618944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.131858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:132.35, Y:117.02, Z:1.12 [[-2.19244159e-03 -9.99997592e-01 -9.61868492e-05 1.32345846e+02] [ 9.99978083e-01 -2.19179790e-03 -6.24733717e-03 1.17021647e+02] [ 6.24711130e-03 -1.09881663e-04 9.99980481e-01 1.11643126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:132.35, Y:117.05, Z:1.12 [[-2.72460861e-03 -9.99996284e-01 -9.43359994e-05 1.32346356e+02] [ 9.99976775e-01 -2.72396610e-03 -6.24736511e-03 1.17049572e+02] [ 6.24708493e-03 -1.11355433e-04 9.99980481e-01 1.11659116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.191858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:132.35, Y:117.08, Z:1.12 [[-3.51848920e-03 -9.99993806e-01 -9.25870869e-05 1.32347142e+02] [ 9.99974297e-01 -3.51784213e-03 -6.24739103e-03 1.17077678e+02] [ 6.24702663e-03 -1.14566085e-04 9.99980481e-01 1.11680224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.35, Y:117.11, Z:1.12 [[-4.28723890e-03 -9.99990806e-01 -9.08248969e-05 1.32347541e+02] [ 9.99971297e-01 -4.28658783e-03 -6.24741665e-03 1.17105656e+02] [ 6.24696988e-03 -1.17606458e-04 9.99980481e-01 1.11722667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.251858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.35, Y:117.13, Z:1.12 [[-5.05047915e-03 -9.99987242e-01 -8.90717123e-05 1.32347943e+02] [ 9.99967734e-01 -5.04982415e-03 -6.24744165e-03 1.17132307e+02] [ 6.24691215e-03 -1.20621412e-04 9.99980481e-01 1.11787324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.34, Y:117.16, Z:1.12 [[-1.05550524e-02 -9.99944290e-01 -8.72233056e-05 1.32343399e+02] [ 9.99924785e-01 -1.05543016e-02 -6.24746745e-03 1.17155119e+02] [ 6.24619883e-03 -1.53159092e-04 9.99980481e-01 1.11654109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.35, Y:117.19, Z:1.12 [[-4.81350338e-03 -9.99988415e-01 -1.48392919e-07 1.32349192e+02] [ 9.99968892e-01 -4.81340848e-03 -6.24862393e-03 1.17187248e+02] [ 6.24855083e-03 -3.02261607e-05 9.99980477e-01 1.11889784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:132.35, Y:117.21, Z:1.12 [[-3.24765213e-03 -9.99994723e-01 -8.47205074e-05 1.32348879e+02] [ 9.99975213e-01 -3.24705947e-03 -6.24747709e-03 1.17211952e+02] [ 6.24716903e-03 -1.05008040e-04 9.99980481e-01 1.11932227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.371858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.35, Y:117.24, Z:1.12 [[-3.42791862e-03 -9.99994123e-01 -6.19444537e-05 1.32348319e+02] [ 9.99974609e-01 -3.42746471e-03 -6.24777746e-03 1.17240911e+02] [ 6.24752842e-03 -8.33597535e-05 9.99980481e-01 1.12001984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.35, Y:117.27, Z:1.12 [[-1.03409706e-03 -9.99999462e-01 -8.12127555e-05 1.32349253e+02] [ 9.99979950e-01 -1.03356951e-03 -6.24752699e-03 1.17271094e+02] [ 6.24743969e-03 -8.76716764e-05 9.99980481e-01 1.12062361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.35, Y:117.30, Z:1.12 [[ 6.95176877e-04 -9.99999753e-01 -1.01533040e-04 1.32349010e+02] [ 9.99980244e-01 6.95797616e-04 -6.24726358e-03 1.17297138e+02] [ 6.24733268e-03 -9.71880812e-05 9.99980481e-01 1.12030634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.35, Y:117.33, Z:1.12 [[ 3.57709547e-03 -9.99993599e-01 -7.89470947e-05 1.32349495e+02] [ 9.99974084e-01 3.57751889e-03 -6.24754899e-03 1.17327244e+02] [ 6.24779143e-03 -5.65969695e-05 9.99980481e-01 1.11917924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.35, Y:117.35, Z:1.12 [[ 4.24397676e-03 -9.99990988e-01 -1.10424494e-04 1.32347707e+02] [ 9.99971478e-01 4.24458380e-03 -6.24715451e-03 1.17352896e+02] [ 6.24756692e-03 -8.39085663e-05 9.99980480e-01 1.11792506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:117.38, Z:1.12 [[ 5.56674525e-03 -9.99984503e-01 -7.52414510e-05 1.32347824e+02] [ 9.99964987e-01 5.56710669e-03 -6.24757823e-03 1.17380365e+02] [ 6.24790029e-03 -4.04601401e-05 9.99980481e-01 1.11733612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.36, Y:117.42, Z:1.12 [[ 1.17704213e-02 -9.99930724e-01 -7.34032468e-05 1.32356317e+02] [ 9.99911206e-01 1.17706501e-02 -6.24759983e-03 1.17416793e+02] [ 6.24803102e-03 1.40152798e-07 9.99980481e-01 1.11567586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.581858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.36, Y:117.45, Z:1.12 [[ 9.64841597e-03 -9.99953434e-01 -1.97085303e-04 1.32355778e+02] [ 9.99933934e-01 9.64945892e-03 -6.24629312e-03 1.17446225e+02] [ 6.24790402e-03 -1.36805448e-04 9.99980472e-01 1.11624619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.611858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.35, Y:117.47, Z:1.12 [[ 3.53743629e-03 -9.99993722e-01 -2.04619859e-04 1.32348841e+02] [ 9.99974231e-01 3.53864544e-03 -6.24621530e-03 1.17465096e+02] [ 6.24690017e-03 -1.82518998e-04 9.99980471e-01 1.11749926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:117.50, Z:1.12 [[ 4.34613510e-03 -9.99990554e-01 -5.78777164e-05 1.32356151e+02] [ 9.99971038e-01 4.34641188e-03 -6.24757479e-03 1.17498920e+02] [ 6.24776734e-03 -3.07232361e-05 9.99980482e-01 1.11776488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.36, Y:117.53, Z:1.12 [[ 2.54225938e-03 -9.99996751e-01 -1.86048005e-04 1.32357370e+02] [ 9.99977257e-01 2.54337194e-03 -6.24633995e-03 1.17526988e+02] [ 6.24679284e-03 -1.70163957e-04 9.99980474e-01 1.11864489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.701858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.36, Y:117.55, Z:1.12 [[-6.40712879e-04 -9.99999777e-01 -1.88197508e-04 1.32357208e+02] [ 9.99980287e-01 -6.39524851e-04 -6.24632030e-03 1.17554696e+02] [ 6.24619855e-03 -1.92195896e-04 9.99980474e-01 1.11903594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.731858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:132.35, Y:117.57, Z:1.12 [[-7.06112474e-03 -9.99975055e-01 -1.74395415e-04 1.32351581e+02] [ 9.99955569e-01 -7.05989777e-03 -6.24643757e-03 1.17573818e+02] [ 6.24505054e-03 -2.18494541e-04 9.99980476e-01 1.12110289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.761858064 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:132.35, Y:117.60, Z:1.12 [[-1.03835955e-02 -9.99946088e-01 -4.60849797e-05 1.32352184e+02] [ 9.99926578e-01 -1.03831050e-02 -6.24738413e-03 1.17603089e+02] [ 6.24656882e-03 -1.10951906e-04 9.99980484e-01 1.11994481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.791858064 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:132.35, Y:117.63, Z:1.12 [[-1.20293907e-02 -9.99927642e-01 -6.29586743e-05 1.32351352e+02] [ 9.99908136e-01 -1.20287627e-02 -6.24726119e-03 1.17629403e+02] [ 6.24605184e-03 -1.38103637e-04 9.99980484e-01 1.12110860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.821858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:132.35, Y:117.66, Z:1.12 [[-1.33709026e-02 -9.99910605e-01 -4.35567010e-05 1.32351421e+02] [ 9.99891096e-01 -1.33703696e-02 -6.24739646e-03 1.17658877e+02] [ 6.24625561e-03 -1.27085287e-04 9.99980484e-01 1.12052409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.851858064 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:132.35, Y:117.69, Z:1.12 [[-1.25459129e-02 -9.99921296e-01 -5.28637398e-05 1.32354105e+02] [ 9.99901788e-01 -1.25453378e-02 -6.24733243e-03 1.17689589e+02] [ 6.24617754e-03 -1.31237036e-04 9.99980484e-01 1.11944472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:117.71, Z:1.12 [[-1.59395440e-02 -9.99872951e-01 -1.13421603e-04 1.32350093e+02] [ 9.99853459e-01 -1.59385246e-02 -6.24691450e-03 1.17712870e+02] [ 6.24431307e-03 -2.12977950e-04 9.99980481e-01 1.12033758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.35, Y:117.74, Z:1.12 [[-1.67411832e-02 -9.99859856e-01 -3.85044248e-05 1.32349640e+02] [ 9.99840348e-01 -1.67406160e-02 -6.24737626e-03 1.17740097e+02] [ 6.24585614e-03 -1.43086748e-04 9.99980484e-01 1.12037905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:117.77, Z:1.12 [[-1.74761396e-02 -9.99847280e-01 -3.66107068e-05 1.32349049e+02] [ 9.99827772e-01 -1.74755699e-02 -6.24738735e-03 1.17768336e+02] [ 6.24579346e-03 -1.45784615e-04 9.99980484e-01 1.12101948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.971858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:132.35, Y:117.80, Z:1.12 [[-1.54185815e-02 -9.99881126e-01 -3.48493909e-05 1.32351503e+02] [ 9.99861617e-01 -1.54180630e-02 -6.24739718e-03 1.17800411e+02] [ 6.24611722e-03 -1.31170571e-04 9.99980484e-01 1.11841806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.001858064 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:132.35, Y:117.82, Z:1.12 [[-1.83470701e-02 -9.99831674e-01 -9.85369052e-05 1.32347267e+02] [ 9.99812180e-01 -1.83460967e-02 -6.24703131e-03 1.17823152e+02] [ 6.24417200e-03 -2.13133119e-04 9.99980482e-01 1.12172608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.031858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:132.35, Y:117.85, Z:1.12 [[-1.63200384e-02 -9.99866819e-01 -3.21035874e-05 1.32349582e+02] [ 9.99847310e-01 -1.63195194e-02 -6.24737271e-03 1.17853867e+02] [ 6.24601676e-03 -1.34056048e-04 9.99980484e-01 1.12056509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.061858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:132.35, Y:117.88, Z:1.12 [[-1.77648637e-02 -9.99842189e-01 -7.90084855e-05 1.32346122e+02] [ 9.99822691e-01 -1.77640236e-02 -6.24712727e-03 1.17878424e+02] [ 6.24473790e-03 -1.89973841e-04 9.99980483e-01 1.12343937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.35, Y:117.91, Z:1.12 [[-1.55475430e-02 -9.99879129e-01 -2.97668449e-05 1.32348742e+02] [ 9.99859620e-01 -1.55470537e-02 -6.24736190e-03 1.17909773e+02] [ 6.24614399e-03 -1.26893794e-04 9.99980485e-01 1.12271523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:132.35, Y:117.93, Z:1.12 [[-1.76755638e-02 -9.99843772e-01 -7.87233203e-05 1.32346200e+02] [ 9.99824273e-01 -1.76747272e-02 -6.24712435e-03 1.17934569e+02] [ 6.24475696e-03 -1.89130931e-04 9.99980483e-01 1.12455481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.151858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:132.35, Y:117.97, Z:1.12 [[-1.41663124e-02 -9.99899652e-01 -3.64233234e-05 1.32348928e+02] [ 9.99880143e-01 -1.41658084e-02 -6.24730526e-03 1.17966054e+02] [ 6.24616239e-03 -1.24920236e-04 9.99980485e-01 1.12361624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:117.99, Z:1.12 [[-1.42768633e-02 -9.99898077e-01 -8.66545885e-05 1.32348585e+02] [ 9.99878577e-01 -1.42760435e-02 -6.24710115e-03 1.17994140e+02] [ 6.24522734e-03 -1.75833076e-04 9.99980483e-01 1.12421567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.34, Y:118.02, Z:1.13 [[-1.67314652e-02 -9.99860016e-01 -8.55314525e-05 1.32344388e+02] [ 9.99840518e-01 -1.67306045e-02 -6.24710532e-03 1.18017459e+02] [ 6.24479983e-03 -1.90041037e-04 9.99980483e-01 1.12620827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:118.04, Z:1.13 [[-1.54050596e-02 -9.99881335e-01 -1.92696249e-05 1.32343015e+02] [ 9.99861825e-01 -1.54046386e-02 -6.24730971e-03 1.18044425e+02] [ 6.24627153e-03 -1.15507141e-04 9.99980485e-01 1.12608499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27185806399999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:132.34, Y:118.07, Z:1.13 [[-1.50844707e-02 -9.99886223e-01 -1.74307227e-05 1.32342329e+02] [ 9.99866712e-01 -1.50840675e-02 -6.24731485e-03 1.18072540e+02] [ 6.24634112e-03 -1.11665837e-04 9.99980485e-01 1.12655868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.301858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.34, Y:118.10, Z:1.13 [[-1.33323986e-02 -9.99911120e-01 -1.56704967e-05 1.32344271e+02] [ 9.99891608e-01 -1.33320405e-02 -6.24731926e-03 1.18103304e+02] [ 6.24655508e-03 -9.89605485e-05 9.99980485e-01 1.12631636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.331858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.34, Y:118.13, Z:1.13 [[-1.37452795e-02 -9.99905527e-01 -6.20562802e-05 1.32344248e+02] [ 9.99886022e-01 -1.37446236e-02 -6.24720481e-03 1.18131933e+02] [ 6.24576168e-03 -1.47918783e-04 9.99980484e-01 1.12651192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:118.16, Z:1.13 [[-1.52474273e-02 -9.99883749e-01 -5.99270838e-05 1.32340225e+02] [ 9.99864245e-01 -1.52467555e-02 -6.24720932e-03 1.18156720e+02] [ 6.24556938e-03 -1.55172818e-04 9.99980484e-01 1.12556817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.391858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:132.34, Y:118.18, Z:1.13 [[-1.57720959e-02 -9.99875613e-01 -1.04011936e-05 1.32339350e+02] [ 9.99856102e-01 -1.57717232e-02 -6.24729178e-03 1.18184773e+02] [ 6.24635065e-03 -1.08932582e-04 9.99980485e-01 1.12595363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.421858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.34, Y:118.21, Z:1.13 [[-1.66252915e-02 -9.99861790e-01 -8.65867240e-06 1.32338757e+02] [ 9.99842279e-01 -1.66249129e-02 -6.24729420e-03 1.18211527e+02] [ 6.24628681e-03 -1.12520394e-04 9.99980485e-01 1.12593918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:118.24, Z:1.13 [[-1.87482193e-02 -9.99824237e-01 -6.82148301e-06 1.32338266e+02] [ 9.99804726e-01 -1.87478108e-02 -6.24729620e-03 1.18239454e+02] [ 6.24607027e-03 -1.23945830e-04 9.99980485e-01 1.12650508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:118.27, Z:1.13 [[-2.00889227e-02 -9.99798197e-01 -5.11186352e-06 1.32338134e+02] [ 9.99778687e-01 -2.00884987e-02 -6.24729760e-03 1.18267282e+02] [ 6.24593419e-03 -1.30612211e-04 9.99980485e-01 1.12719033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.511858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:132.34, Y:118.29, Z:1.13 [[-2.15491161e-02 -9.99767791e-01 -3.38998020e-06 1.32337690e+02] [ 9.99748281e-01 -2.15486744e-02 -6.24729854e-03 1.18294115e+02] [ 6.24577481e-03 -1.38012888e-04 9.99980485e-01 1.12716028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:118.32, Z:1.13 [[-2.31273012e-02 -9.99732528e-01 -2.13663312e-06 1.32337172e+02] [ 9.99713019e-01 -2.31268366e-02 -6.24729897e-03 1.18322210e+02] [ 6.24557858e-03 -1.46619185e-04 9.99980485e-01 1.12776858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.571858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.34, Y:118.35, Z:1.13 [[-2.59340033e-02 -9.99663657e-01 -4.33282964e-07 1.32335564e+02] [ 9.99644149e-01 -2.59334945e-02 -6.24729908e-03 1.18348126e+02] [ 6.24518661e-03 -1.62450604e-04 9.99980485e-01 1.12762093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.33, Y:118.35, Z:1.13 [[-2.70138079e-02 -9.99635061e-01 1.57186498e-06 1.32334729e+02] [ 9.99615553e-01 -2.70132906e-02 -6.24729858e-03 1.18345396e+02] [ 6.24506115e-03 -1.67192063e-04 9.99980485e-01 1.12755701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.631858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.33, Y:118.34, Z:1.13 [[-2.79468290e-02 -9.99609411e-01 3.90923646e-06 1.32334042e+02] [ 9.99589904e-01 -2.79463081e-02 -6.24729712e-03 1.18344254e+02] [ 6.24496624e-03 -1.70684511e-04 9.99980485e-01 1.12747042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:118.34, Z:1.13 [[-2.84515333e-02 -9.99595173e-01 6.24772498e-06 1.32333383e+02] [ 9.99575665e-01 -2.84510171e-02 -6.24729478e-03 1.18338293e+02] [ 6.24494346e-03 -1.71500041e-04 9.99980485e-01 1.12825510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:118.34, Z:1.13 [[-2.84683334e-02 -9.99594695e-01 8.58433024e-06 1.32332796e+02] [ 9.99575187e-01 -2.84678314e-02 -6.24729157e-03 1.18336067e+02] [ 6.24500389e-03 -1.69269295e-04 9.99980485e-01 1.12725638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.33, Y:118.33, Z:1.13 [[-2.80248501e-02 -9.99607227e-01 1.09175299e-05 1.32331826e+02] [ 9.99587718e-01 -2.80243714e-02 -6.24728749e-03 1.18333961e+02] [ 6.24513968e-03 -1.64166267e-04 9.99980485e-01 1.12692228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:118.33, Z:1.13 [[-2.74134371e-02 -9.99624181e-01 1.32518420e-05 1.32330404e+02] [ 9.99604672e-01 -2.74129849e-02 -6.24728254e-03 1.18333724e+02] [ 6.24529796e-03 -1.58012884e-04 9.99980485e-01 1.12749133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:118.33, Z:1.13 [[-2.55922055e-02 -9.99672466e-01 1.55876778e-05 1.32328368e+02] [ 9.99652955e-01 -2.55918035e-02 -6.24727671e-03 1.18332491e+02] [ 6.24562943e-03 -1.44299322e-04 9.99980485e-01 1.12649174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.33, Y:118.33, Z:1.13 [[-2.47319448e-02 -9.99694119e-01 1.79269228e-05 1.32327447e+02] [ 9.99674608e-01 -2.47315741e-02 -6.24727000e-03 1.18334502e+02] [ 6.24580243e-03 -1.36586047e-04 9.99980485e-01 1.12640324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.33, Y:118.33, Z:1.13 [[-2.40002928e-02 -9.99711951e-01 2.02703546e-05 1.32326622e+02] [ 9.99692440e-01 -2.39999510e-02 -6.24726239e-03 1.18329210e+02] [ 6.24594937e-03 -1.29672006e-04 9.99980485e-01 1.12651260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:118.40, Z:1.13 [[-2.23938818e-02 -9.99749225e-01 2.26153214e-05 1.32325048e+02] [ 9.99729713e-01 -2.23935860e-02 -6.24725391e-03 1.18404626e+02] [ 6.24619369e-03 -1.17291056e-04 9.99980485e-01 1.12574682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:118.43, Z:1.13 [[-2.12315805e-02 -9.99774584e-01 4.08625717e-05 1.32324222e+02] [ 9.99755070e-01 -2.12314214e-02 -6.24718301e-03 1.18431651e+02] [ 6.24664236e-03 -9.17850056e-05 9.99980485e-01 1.12656632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:118.33, Z:1.13 [[-2.09605286e-02 -9.99780304e-01 2.29160523e-05 1.32324123e+02] [ 9.99760791e-01 -2.09602627e-02 -6.24725462e-03 1.18329134e+02] [ 6.24636245e-03 -1.08035189e-04 9.99980485e-01 1.12565943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:118.45, Z:1.13 [[-1.91460910e-02 -9.99816696e-01 2.71942092e-05 1.32323100e+02] [ 9.99797183e-01 -1.91458873e-02 -6.24723600e-03 1.18452382e+02] [ 6.24661152e-03 -9.24214555e-05 9.99980485e-01 1.12544544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:118.33, Z:1.13 [[-1.87005399e-02 -9.99825129e-01 2.20801891e-05 1.32323682e+02] [ 9.99805616e-01 -1.87003129e-02 -6.24725922e-03 1.18328442e+02] [ 6.24657967e-03 -9.47512234e-05 9.99980485e-01 1.12562245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.32, Y:118.32, Z:1.13 [[-1.79222277e-02 -9.99839384e-01 3.02752305e-05 1.32323474e+02] [ 9.99819870e-01 -1.79220671e-02 -6.24721951e-03 1.18322518e+02] [ 6.24675870e-03 -8.16943136e-05 9.99980485e-01 1.12530978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.051858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.32, Y:118.32, Z:1.13 [[-1.57689849e-02 -9.99875661e-01 3.26313015e-05 1.32322281e+02] [ 9.99856147e-01 -1.57688810e-02 -6.24720720e-03 1.18323150e+02] [ 6.24694499e-03 -6.58855086e-05 9.99980485e-01 1.12511199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:118.33, Z:1.12 [[-1.46405589e-02 -9.99892821e-01 3.49865912e-05 1.32321390e+02] [ 9.99873306e-01 -1.46404918e-02 -6.24719401e-03 1.18330432e+02] [ 6.24703666e-03 -5.64802534e-05 9.99980485e-01 1.12448100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.111858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.32, Y:118.33, Z:1.12 [[-1.34373794e-02 -9.99909714e-01 3.73527339e-05 1.32320926e+02] [ 9.99890199e-01 -1.34373506e-02 -6.24717986e-03 1.18333534e+02] [ 6.24711775e-03 -4.65970938e-05 9.99980485e-01 1.12421402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.141858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.32, Y:118.32, Z:1.12 [[-1.09829173e-02 -9.99939685e-01 3.97317785e-05 1.32320886e+02] [ 9.99920171e-01 -1.09829512e-02 -6.24716473e-03 1.18319964e+02] [ 6.24722431e-03 -2.88834870e-05 9.99980485e-01 1.12354670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:118.42, Z:1.12 [[-1.02410546e-02 -9.99947558e-01 4.21057098e-05 1.32320549e+02] [ 9.99928044e-01 -1.02411178e-02 -6.24714873e-03 1.18422158e+02] [ 6.24725233e-03 -2.18747110e-05 9.99980486e-01 1.12475754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:118.32, Z:1.12 [[-9.61422015e-03 -9.99953781e-01 5.72308635e-05 1.32321149e+02] [ 9.99934267e-01 -9.61439008e-03 -6.24703975e-03 1.18318845e+02] [ 6.24730125e-03 -2.83331396e-06 9.99980485e-01 1.12366734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:118.33, Z:1.12 [[-8.92718831e-03 -9.99960151e-01 4.67231105e-05 1.32319939e+02] [ 9.99940637e-01 -8.92730600e-03 -6.24711834e-03 1.18325456e+02] [ 6.24728651e-03 -9.04886500e-06 9.99980485e-01 1.12344537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.261858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.32, Y:118.31, Z:1.12 [[-8.82998534e-03 -9.99961014e-01 4.91005471e-05 1.32319918e+02] [ 9.99941500e-01 -8.83011977e-03 -6.24709965e-03 1.18314251e+02] [ 6.24728966e-03 -6.06412363e-06 9.99980485e-01 1.12327070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:118.32, Z:1.12 [[-9.43058791e-03 -9.99955530e-01 5.14779764e-05 1.32319686e+02] [ 9.99936016e-01 -9.43072547e-03 -6.24708006e-03 1.18324819e+02] [ 6.24728773e-03 -7.43895504e-06 9.99980485e-01 1.12329351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:118.31, Z:1.12 [[-1.00288961e-02 -9.99949708e-01 5.38589325e-05 1.32320080e+02] [ 9.99930194e-01 -1.00290369e-02 -6.24705953e-03 1.18309273e+02] [ 6.24728551e-03 -8.79593824e-06 9.99980485e-01 1.12327412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:118.31, Z:1.12 [[-1.18186562e-02 -9.99930156e-01 5.62398804e-05 1.32321393e+02] [ 9.99910642e-01 -1.18187769e-02 -6.24703810e-03 1.18308306e+02] [ 6.24726646e-03 -1.75967406e-05 9.99980485e-01 1.12298777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.32, Y:118.30, Z:1.12 [[-1.34212449e-02 -9.99909929e-01 5.86102478e-05 1.32322187e+02] [ 9.99890415e-01 -1.34213492e-02 -6.24701586e-03 1.18304141e+02] [ 6.24723982e-03 -2.52389049e-05 9.99980485e-01 1.12253983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.411858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:132.32, Y:118.30, Z:1.12 [[-1.53741177e-02 -9.99881809e-01 6.09806065e-05 1.32322937e+02] [ 9.99862295e-01 -1.53741987e-02 -6.24699272e-03 1.18299953e+02] [ 6.24719191e-03 -3.50697925e-05 9.99980486e-01 1.12163305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.32, Y:118.30, Z:1.12 [[-1.77624074e-02 -9.99842234e-01 6.33474529e-05 1.32323432e+02] [ 9.99822720e-01 -1.77624565e-02 -6.24696872e-03 1.18297642e+02] [ 6.24710837e-03 -4.76249810e-05 9.99980486e-01 1.12106144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.471858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.33, Y:118.29, Z:1.12 [[-2.18109670e-02 -9.99762110e-01 6.57127231e-05 1.32325445e+02] [ 9.99742596e-01 -2.18109519e-02 -6.24694384e-03 1.18291362e+02] [ 6.24689101e-03 -7.05560776e-05 9.99980486e-01 1.11983122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:132.33, Y:118.29, Z:1.12 [[-2.40958261e-02 -9.99709651e-01 6.80752765e-05 1.32326927e+02] [ 9.99690137e-01 -2.40957811e-02 -6.24691809e-03 1.18286478e+02] [ 6.24674463e-03 -8.24704696e-05 9.99980486e-01 1.12017002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.531858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:132.33, Y:118.28, Z:1.12 [[-2.82330505e-02 -9.99601366e-01 7.04320054e-05 1.32329908e+02] [ 9.99581851e-01 -2.82329395e-02 -6.24689152e-03 1.18284589e+02] [ 6.24638980e-03 -1.05966250e-04 9.99980486e-01 1.12143951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:132.33, Y:118.28, Z:1.12 [[-3.00457210e-02 -9.99548523e-01 7.27871709e-05 1.32331192e+02] [ 9.99529009e-01 -3.00455893e-02 -6.24686408e-03 1.18280317e+02] [ 6.24623070e-03 -1.14938646e-04 9.99980486e-01 1.12210591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.591858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:132.33, Y:118.28, Z:1.12 [[-3.13015905e-02 -9.99509982e-01 7.51411911e-05 1.32331899e+02] [ 9.99490468e-01 -3.13014490e-02 -6.24683576e-03 1.18277106e+02] [ 6.24612673e-03 -1.20432991e-04 9.99980486e-01 1.12221401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:132.33, Y:118.27, Z:1.12 [[-3.20930655e-02 -9.99484882e-01 7.74928762e-05 1.32332725e+02] [ 9.99465368e-01 -3.20929232e-02 -6.24680659e-03 1.18274245e+02] [ 6.24607572e-03 -1.23027727e-04 9.99980486e-01 1.12250803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:118.66, Z:1.12 [[-3.32154274e-02 -9.99448212e-01 7.98437764e-05 1.32328103e+02] [ 9.99428698e-01 -3.32152779e-02 -6.24677654e-03 1.18656253e+02] [ 6.24598168e-03 -1.27691191e-04 9.99980486e-01 1.12460755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:118.28, Z:1.12 [[-2.43833836e-02 -9.99702672e-01 1.37348922e-04 1.32336325e+02] [ 9.99683159e-01 -2.43837659e-02 -6.24600967e-03 1.18281263e+02] [ 6.24750164e-03 -1.49934462e-05 9.99980484e-01 1.12338299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.33, Y:118.27, Z:1.12 [[-3.08130470e-02 -9.99525165e-01 1.06699743e-05 1.32333612e+02] [ 9.99505657e-01 -3.08125123e-02 -6.24748241e-03 1.18271245e+02] [ 6.24484466e-03 -1.81839269e-04 9.99980484e-01 1.12322532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74185806399998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:132.33, Y:118.69, Z:1.13 [[-3.16637528e-02 -9.99498575e-01 7.60783642e-05 1.32329425e+02] [ 9.99479062e-01 -3.16636101e-02 -6.24668582e-03 1.18688448e+02] [ 6.24596249e-03 -1.21754784e-04 9.99980486e-01 1.12611070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:118.27, Z:1.12 [[-3.20625115e-02 -9.99485860e-01 1.02209040e-04 1.32334656e+02] [ 9.99466346e-01 -3.20625242e-02 -6.24635775e-03 1.18272802e+02] [ 6.24642333e-03 -9.81194213e-05 9.99980486e-01 1.12383157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.801858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:132.33, Y:118.26, Z:1.12 [[-3.30114969e-02 -9.99454969e-01 7.95180862e-05 1.32334094e+02] [ 9.99435456e-01 -3.30113494e-02 -6.24664660e-03 1.18262267e+02] [ 6.24586698e-03 -1.26737960e-04 9.99980486e-01 1.12419278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.831858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:132.33, Y:118.26, Z:1.12 [[-3.34485915e-02 -9.99440436e-01 8.18774052e-05 1.32333686e+02] [ 9.99420923e-01 -3.34484502e-02 -6.24661567e-03 1.18258816e+02] [ 6.24585896e-03 -1.27110504e-04 9.99980486e-01 1.12424891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.861858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:132.34, Y:118.53, Z:1.13 [[-2.22118621e-02 -9.99753283e-01 8.42290065e-05 1.32336943e+02] [ 9.99733769e-01 -2.22119548e-02 -6.24658396e-03 1.18532518e+02] [ 6.24691371e-03 -5.45416794e-05 9.99980486e-01 1.12550180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.34, Y:118.35, Z:1.13 [[-2.22100762e-02 -9.99753326e-01 -7.37648587e-06 1.32337615e+02] [ 9.99733814e-01 -2.22095966e-02 -6.24784343e-03 1.18352285e+02] [ 6.24613842e-03 -1.46139601e-04 9.99980482e-01 1.12821135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.921858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.34, Y:118.51, Z:1.13 [[-2.04117519e-02 -9.99791659e-01 -4.59369458e-06 1.32337345e+02] [ 9.99772145e-01 -2.04113248e-02 -6.24780467e-03 1.18505862e+02] [ 6.24640923e-03 -1.32121287e-04 9.99980482e-01 1.12887960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.951858064 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:132.33, Y:118.86, Z:1.13 [[-2.30906389e-02 -9.99733375e-01 2.21953827e-05 1.32331194e+02] [ 9.99713863e-01 -2.30903269e-02 -6.24731367e-03 1.18859460e+02] [ 6.24616048e-03 -1.22065432e-04 9.99980485e-01 1.12951385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.981858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:131.67, Y:118.47, Z:2.13 [[-8.91559862e-02 9.96017676e-01 -1.41649003e-05 1.31674603e+02] [ 9.95998230e-01 8.91543344e-02 6.24743329e-03 1.18473887e+02] [ 6.22381684e-03 5.42887860e-04 -9.99980485e-01 2.13069924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.011858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:131.69, Y:118.56, Z:2.13 [[-1.73402239e-01 9.84850819e-01 -7.26048233e-04 1.31689493e+02] [ 9.84831515e-01 1.73403393e-01 6.17658381e-03 1.18556524e+02] [ 6.20891285e-03 3.55998278e-04 -9.99980661e-01 2.12924168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.041858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.77, Y:118.35, Z:2.13 [[-2.35497232e-01 9.71873992e-01 -1.41338659e-03 1.31773461e+02] [ 9.71855158e-01 2.35501468e-01 6.05074661e-03 1.18352648e+02] [ 6.21341788e-03 5.13270294e-05 -9.99980695e-01 2.12992291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.071858064 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:131.87, Y:118.17, Z:2.13 [[-3.11008318e-01 9.50405916e-01 -1.55581729e-03 1.31865517e+02] [ 9.50386971e-01 3.11011962e-01 6.01364289e-03 1.18165190e+02] [ 6.19927957e-03 3.91664474e-04 -9.99980708e-01 2.12958252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:131.81, Y:118.40, Z:2.13 [[-3.85001920e-01 9.22913545e-01 -2.02724326e-03 1.31810516e+02] [ 9.22895082e-01 3.85007068e-01 5.85028498e-03 1.18396386e+02] [ 6.17981023e-03 3.81438112e-04 -9.99980832e-01 2.13104331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.131858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:131.93, Y:118.21, Z:2.13 [[-4.61357753e-01 8.87210778e-01 -2.46169507e-03 1.31931762e+02] [ 8.87192823e-01 4.61364122e-01 5.66049781e-03 1.18210241e+02] [ 6.15779245e-03 4.27516355e-04 -9.99980949e-01 2.12747785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:118.20, Z:2.13 [[-5.30342053e-01 8.47778580e-01 -2.96422596e-03 1.31976402e+02] [ 8.47761508e-01 5.30350224e-01 5.39118615e-03 1.18202195e+02] [ 6.14261004e-03 3.46216066e-04 -9.99981074e-01 2.12747620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.191858064 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:132.07, Y:118.14, Z:2.13 [[-5.90835732e-01 8.06784524e-01 -3.44533665e-03 1.32066619e+02] [ 8.06768552e-01 5.90845735e-01 5.08142649e-03 1.18144908e+02] [ 6.13527872e-03 2.22699075e-04 -9.99981154e-01 2.13047316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221858064 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:132.11, Y:118.15, Z:2.13 [[-6.52186474e-01 7.58049538e-01 -3.70134251e-03 1.32112469e+02] [ 7.58033878e-01 6.52196866e-01 4.88755375e-03 1.18145658e+02] [ 6.11901185e-03 3.81853431e-04 -9.99981206e-01 2.13041635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.251858064 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:132.07, Y:118.23, Z:2.13 [[-7.15038187e-01 6.99073606e-01 -4.06014102e-03 1.32071030e+02] [ 6.99058808e-01 7.15049586e-01 4.56869503e-03 1.18230508e+02] [ 6.09705626e-03 4.28514068e-04 -9.99981321e-01 2.13063153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:132.12, Y:118.24, Z:2.13 [[-7.63033973e-01 6.46342806e-01 -4.48699160e-03 1.32117541e+02] [ 6.46329699e-01 7.63047126e-01 4.12360233e-03 1.18241562e+02] [ 6.08904674e-03 2.46372732e-04 -9.99981431e-01 2.13076068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.311858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:132.12, Y:118.27, Z:2.13 [[-8.15502568e-01 5.78734378e-01 -4.69906397e-03 1.32120763e+02] [ 5.78721630e-01 8.15515991e-01 3.86561488e-03 1.18273944e+02] [ 6.06932604e-03 4.32968904e-04 -9.99981488e-01 2.13131056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:132.17, Y:118.28, Z:2.13 [[-8.58247469e-01 5.13211426e-01 -5.03125990e-03 1.32168714e+02] [ 5.13200344e-01 8.58262154e-01 3.38850377e-03 1.18281970e+02] [ 6.05715881e-03 3.26130472e-04 -9.99981602e-01 2.12938855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.371858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:132.65, Y:118.79, Z:1.12 [[-8.69383832e-01 -4.94109431e-01 5.25574249e-03 1.32650078e+02] [ 4.94100287e-01 -8.69399718e-01 -3.00611509e-03 1.18790702e+02] [ 6.05469086e-03 -1.66039819e-05 9.99981670e-01 1.12358571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:118.23, Z:2.13 [[-8.92133165e-01 4.51742439e-01 -5.21389823e-03 1.32334846e+02] [ 4.51732127e-01 8.92148315e-01 3.07722539e-03 1.18232051e+02] [ 6.04168383e-03 3.90009493e-04 -9.99981673e-01 2.13156896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43185806399998 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:132.39, Y:118.24, Z:2.13 [[-9.24505878e-01 3.81129116e-01 -5.42935882e-03 1.32394717e+02] [ 3.81120187e-01 9.24521748e-01 2.63452179e-03 1.18244610e+02] [ 6.02365327e-03 3.66392637e-04 -9.99981791e-01 2.13040412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46185806399998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:132.43, Y:118.27, Z:2.13 [[-9.51387273e-01 3.07946185e-01 -5.60382379e-03 1.32426708e+02] [ 3.07938602e-01 9.51403710e-01 2.19065666e-03 1.18272745e+02] [ 6.00610310e-03 3.58529197e-04 -9.99981899e-01 2.13157766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49185806399998 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:132.46, Y:118.30, Z:2.13 [[-9.72405230e-01 2.33227668e-01 -5.73789119e-03 1.32464108e+02] [ 2.33221377e-01 9.72422090e-01 1.75144097e-03 1.18300377e+02] [ 5.98813664e-03 3.64911479e-04 -9.99982004e-01 2.13196911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52185806399999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:132.50, Y:118.33, Z:2.13 [[-9.87290495e-01 1.58818696e-01 -5.83946979e-03 1.32501726e+02] [ 1.58813819e-01 9.87307703e-01 1.29252400e-03 1.18330979e+02] [ 5.97063048e-03 3.48708160e-04 -9.99982115e-01 2.13282662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.551858064 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:132.49, Y:118.37, Z:2.13 [[-9.96573540e-01 8.25003986e-02 -5.90458673e-03 1.32491214e+02] [ 8.24969338e-02 9.96590974e-01 8.28387890e-04 1.18368236e+02] [ 5.95280017e-03 3.38439152e-04 -9.99982225e-01 2.13327536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.581858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:132.57, Y:119.04, Z:1.12 [[-9.99268724e-01 -3.77730171e-02 5.93433595e-03 1.32566865e+02] [ 3.77716498e-02 -9.99286338e-01 -3.42357498e-04 1.19037383e+02] [ 5.94303271e-03 -1.17957481e-04 9.99982333e-01 1.12084867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.57, Y:119.04, Z:1.12 [[-9.99423249e-01 -3.34360370e-02 5.93297666e-03 1.32574898e+02] [ 3.34344620e-02 -9.99440846e-01 -3.64483584e-04 1.19036811e+02] [ 5.94184610e-03 -1.65907485e-04 9.99982333e-01 1.12150016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.641858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:132.58, Y:119.04, Z:1.12 [[-9.99484648e-01 -3.15473842e-02 5.93311240e-03 1.32576953e+02] [ 3.15457891e-02 -9.99502242e-01 -3.62260522e-04 1.19036786e+02] [ 5.94158752e-03 -1.74909117e-04 9.99982333e-01 1.12170683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.671858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.55, Y:118.40, Z:2.13 [[-9.99934598e-01 9.77730218e-03 -5.93324702e-03 1.32546689e+02] [ 9.77533750e-03 9.99952155e-01 3.60042105e-04 1.18399597e+02] [ 5.93648338e-03 3.02019065e-04 -9.99982333e-01 2.13180406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.701858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:132.55, Y:119.07, Z:1.12 [[-9.98765258e-01 4.93240103e-02 5.92462841e-03 1.32554035e+02] [-4.93241119e-02 -9.98782817e-01 1.29052598e-04 1.19071548e+02] [ 5.92378244e-03 -1.63333783e-04 9.99982441e-01 1.12173411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.731858064 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:132.60, Y:118.44, Z:2.13 [[-9.98032770e-01 -6.24138029e-02 -5.92509654e-03 1.32597834e+02] [-6.24142961e-02 9.98050322e-01 -1.01807946e-04 1.18443779e+02] [ 5.91989873e-03 2.68203064e-04 -9.99982441e-01 2.13145890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.761858064 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:132.61, Y:118.48, Z:2.13 [[-9.90161524e-01 -1.39805484e-01 -5.88077314e-03 1.32614515e+02] [-1.39804596e-01 9.90178952e-01 -5.63983748e-04 1.18483589e+02] [ 5.90186580e-03 2.63724103e-04 -9.99982549e-01 2.13081858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.791858064 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:132.49, Y:119.13, Z:1.12 [[-9.78767393e-01 2.04892023e-01 5.80087976e-03 1.32490129e+02] [-2.04889579e-01 -9.78784564e-01 1.01886023e-03 1.19132166e+02] [ 5.88656790e-03 -1.91312643e-04 9.99982656e-01 1.12415160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:132.63, Y:118.53, Z:2.13 [[-9.75905247e-01 -2.18117615e-01 -5.80125956e-03 1.32628994e+02] [-2.18115416e-01 9.75922452e-01 -1.01669313e-03 1.18527064e+02] [ 5.88333813e-03 2.73147980e-04 -9.99982656e-01 2.13039873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.851858064 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:132.43, Y:119.15, Z:1.12 [[-9.61213075e-01 2.75748233e-01 5.68659708e-03 1.32425530e+02] [-2.75744402e-01 -9.61229882e-01 1.46252640e-03 1.19151578e+02] [ 5.86941611e-03 -1.62247812e-04 9.99982762e-01 1.12453986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881858064 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:132.63, Y:118.57, Z:2.13 [[-9.54034430e-01 -2.99642892e-01 -5.69587293e-03 1.32632597e+02] [-2.99639698e-01 9.54051371e-01 -1.42614532e-03 1.18572357e+02] [ 5.86148968e-03 3.46117902e-04 -9.99982761e-01 2.13171294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.911858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:132.55, Y:118.58, Z:2.13 [[-9.24896152e-01 -3.80179497e-01 -5.53695532e-03 1.32546590e+02] [-3.80174958e-01 9.24912657e-01 -1.89137501e-03 1.18575516e+02] [ 5.84026206e-03 3.55686295e-04 -9.99982882e-01 2.13218148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941858064 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:132.36, Y:119.20, Z:1.12 [[-9.10819913e-01 4.12769347e-01 5.34345860e-03 1.32363974e+02] [-4.12762721e-01 -9.10835584e-01 2.33992922e-03 1.19195487e+02] [ 5.83286329e-03 -7.43263816e-05 9.99982986e-01 1.12107548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.971858064 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:132.37, Y:119.20, Z:1.12 [[-9.12245655e-01 4.09608553e-01 5.35702224e-03 1.32367495e+02] [-4.09602058e-01 -9.12261380e-01 2.30845329e-03 1.19195076e+02] [ 5.83256672e-03 -8.83708517e-05 9.99982987e-01 1.12178475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.63, Y:118.66, Z:2.13 [[-8.89863234e-01 -4.56195920e-01 -5.35789314e-03 1.32625349e+02] [-4.56190258e-01 8.89879278e-01 -2.30643017e-03 1.18659347e+02] [ 5.82006211e-03 3.91811248e-04 -9.99982987e-01 2.12900208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.59, Y:118.69, Z:2.14 [[-8.57739787e-01 -5.14058340e-01 -5.14602593e-03 1.32594923e+02] [-5.14051303e-01 8.57755163e-01 -2.70890872e-03 1.18694972e+02] [ 5.80656743e-03 3.21782547e-04 -9.99983090e-01 2.13612303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.57, Y:118.71, Z:2.13 [[-8.08161423e-01 -5.88939674e-01 -5.01739791e-03 1.32567033e+02] [-5.88932769e-01 8.08176776e-01 -2.91414850e-03 1.18709500e+02] [ 5.77120213e-03 5.99807653e-04 -9.99983167e-01 2.12728749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:119.20, Z:1.13 [[-8.02342999e-01 5.96845211e-01 4.63744063e-03 1.32192154e+02] [-5.96835366e-01 -8.02356401e-01 3.42814033e-03 1.19199040e+02] [ 5.76694931e-03 -1.72441870e-05 9.99983371e-01 1.12884725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.19, Y:119.19, Z:1.13 [[-8.03210412e-01 5.95677359e-01 4.63873357e-03 1.32188300e+02] [-5.95667505e-01 -8.03223807e-01 3.42638991e-03 1.19194218e+02] [ 5.76696413e-03 -1.10307978e-05 9.99983371e-01 1.12819219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:119.17, Z:1.13 [[-8.06643735e-01 5.91019759e-01 4.64002861e-03 1.32157075e+02] [-5.91009837e-01 -8.06657080e-01 3.42463527e-03 1.19171260e+02] [ 5.76693904e-03 2.01580292e-05 9.99983371e-01 1.12841070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:118.69, Z:2.13 [[-7.62139273e-01 -6.47396362e-01 -4.65600603e-03 1.32474602e+02] [-6.47387555e-01 7.62153379e-01 -3.40292612e-03 1.18693529e+02] [ 5.75163272e-03 4.20736722e-04 -9.99983371e-01 2.12686436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21185806399998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.08, Y:119.14, Z:1.13 [[-7.60385199e-01 6.49457612e-01 4.37713667e-03 1.32077360e+02] [-6.49446900e-01 -7.60397797e-01 3.73016435e-03 1.19143618e+02] [ 5.75094871e-03 -6.35607314e-06 9.99983463e-01 1.12910872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:119.14, Z:1.13 [[-7.61034915e-01 6.48696145e-01 4.37836683e-03 1.32077748e+02] [-6.48685429e-01 -7.61047509e-01 3.72871986e-03 1.19139752e+02] [ 5.75095137e-03 -2.49676547e-06 9.99983463e-01 1.12673289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27185806399999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:132.06, Y:119.12, Z:1.13 [[-7.61028213e-01 6.48703998e-01 4.37977670e-03 1.32056214e+02] [-6.48693291e-01 -7.61040815e-01 3.72706308e-03 1.19118194e+02] [ 5.75094955e-03 -4.73160602e-06 9.99983463e-01 1.12551135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.38, Y:118.67, Z:2.13 [[-7.13725077e-01 -7.00412240e-01 -4.38283284e-03 1.32383018e+02] [-7.00402464e-01 7.13738415e-01 -3.72346913e-03 1.18668592e+02] [ 5.73615952e-03 4.12213625e-04 -9.99983463e-01 2.12894830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:119.08, Z:1.13 [[-7.15481811e-01 6.98619348e-01 4.09691279e-03 1.31974090e+02] [-6.98607809e-01 -7.15493541e-01 4.01520801e-03 1.19082662e+02] [ 5.73641663e-03 1.06730330e-05 9.99983547e-01 1.12763524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:119.04, Z:1.12 [[-7.12575381e-01 7.01583587e-01 4.09843482e-03 1.31938086e+02] [-7.01572106e-01 -7.12587167e-01 4.01365382e-03 1.19043317e+02] [ 5.73640570e-03 -1.53166437e-05 9.99983547e-01 1.12301517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.391858064 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:131.97, Y:119.08, Z:1.12 [[-7.15159494e-01 6.98949391e-01 4.08014043e-03 1.31972926e+02] [-6.98937760e-01 -7.15171132e-01 4.03233239e-03 1.19081321e+02] [ 5.73639492e-03 3.19965756e-05 9.99983546e-01 1.12420390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:119.08, Z:1.13 [[-7.14405502e-01 6.99719921e-01 4.10012498e-03 1.31972728e+02] [-6.99708419e-01 -7.14417268e-01 4.01190840e-03 1.19081444e+02] [ 5.73641232e-03 -2.76253265e-06 9.99983547e-01 1.12860179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:119.06, Z:1.13 [[-7.11554314e-01 7.02619125e-01 4.10164101e-03 1.31954762e+02] [-7.02607680e-01 -7.11566135e-01 4.01035787e-03 1.19063878e+02] [ 5.73634298e-03 -2.82570328e-05 9.99983547e-01 1.12789074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:119.08, Z:1.13 [[-7.10194572e-01 7.03993514e-01 4.09911145e-03 1.31974350e+02] [-7.03982077e-01 -7.10206400e-01 4.01294586e-03 1.19083625e+02] [ 5.73630305e-03 -3.57286257e-05 9.99983547e-01 1.12884093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:119.08, Z:1.13 [[-7.08774461e-01 7.05423224e-01 4.10354117e-03 1.31971760e+02] [-7.05411837e-01 -7.08786338e-01 4.00841101e-03 1.19080896e+02] [ 5.73616014e-03 -5.36271646e-05 9.99983547e-01 1.12961704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:119.08, Z:1.13 [[-7.06043425e-01 7.08156643e-01 4.10504772e-03 1.31973316e+02] [-7.08145311e-01 -7.06055354e-01 4.00686754e-03 1.19082435e+02] [ 5.73588079e-03 -7.79478135e-05 9.99983547e-01 1.12859651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:119.08, Z:1.13 [[-7.04819156e-01 7.09375144e-01 4.10636172e-03 1.31973209e+02] [-7.09363841e-01 -7.04831112e-01 4.00552046e-03 1.19082201e+02] [ 5.73570816e-03 -8.97369744e-05 9.99983547e-01 1.12938077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.97, Y:119.08, Z:1.13 [[-7.03585592e-01 7.10598649e-01 4.10786279e-03 1.31972276e+02] [-7.10587376e-01 -7.03597576e-01 4.00398046e-03 1.19081609e+02] [ 5.73550540e-03 -1.01852480e-04 9.99983547e-01 1.12981386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:119.08, Z:1.13 [[-7.01028472e-01 7.13121445e-01 4.10936108e-03 1.31971446e+02] [-7.13110223e-01 -7.01040505e-01 4.00244214e-03 1.19081163e+02] [ 5.73505589e-03 -1.24601504e-04 9.99983547e-01 1.12910960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:118.96, Z:1.13 [[-7.00224270e-01 7.13911110e-01 4.11085782e-03 1.31848425e+02] [-7.13899912e-01 -7.00236324e-01 4.00090426e-03 1.18961081e+02] [ 5.73486197e-03 -1.33210771e-04 9.99983547e-01 1.12681039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.691858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.18, Y:118.51, Z:2.13 [[-6.83388188e-01 -7.30043588e-01 -4.11638152e-03 1.32175046e+02] [-7.30032708e-01 6.83400530e-01 -3.99522441e-03 1.18506521e+02] [ 5.72982527e-03 2.74803981e-04 -9.99983547e-01 2.13237022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:119.04, Z:1.13 [[-6.44671274e-01 7.64450455e-01 3.80125827e-03 1.31874520e+02] [-7.64438512e-01 -6.44682464e-01 4.27572296e-03 1.19041001e+02] [ 5.71918291e-03 -1.49392452e-04 9.99983634e-01 1.12801848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:119.04, Z:1.13 [[-6.44493752e-01 7.64600103e-01 3.80598814e-03 1.31872598e+02] [-7.64588188e-01 -6.44504971e-01 4.27150856e-03 1.19038699e+02] [ 5.71897416e-03 -1.57052992e-04 9.99983634e-01 1.12755166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:119.04, Z:1.13 [[-6.44376637e-01 7.64698798e-01 3.80758221e-03 1.31871691e+02] [-7.64686893e-01 -6.44387866e-01 4.27008715e-03 1.19037517e+02] [ 5.71889029e-03 -1.60063813e-04 9.99983634e-01 1.12777121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:119.03, Z:1.13 [[-6.44514217e-01 7.64582837e-01 3.80918047e-03 1.31870880e+02] [-7.64570938e-01 -6.44525453e-01 4.26866093e-03 1.19034204e+02] [ 5.71885865e-03 -1.61176031e-04 9.99983634e-01 1.12804255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:119.03, Z:1.13 [[-6.45070071e-01 7.64113919e-01 3.81075708e-03 1.31868235e+02] [-7.64102020e-01 -6.45081307e-01 4.26725298e-03 1.19029325e+02] [ 5.71891556e-03 -1.59130002e-04 9.99983634e-01 1.12845059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:119.03, Z:1.13 [[-6.45932911e-01 7.63384661e-01 3.81235112e-03 1.31867428e+02] [-7.63372757e-01 -6.45944143e-01 4.26582839e-03 1.19026346e+02] [ 5.71903384e-03 -1.54806037e-04 9.99983634e-01 1.12814457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.87, Y:119.02, Z:1.13 [[-6.47026435e-01 7.62458029e-01 3.81394644e-03 1.31866916e+02] [-7.62446118e-01 -6.47037658e-01 4.26440159e-03 1.19023271e+02] [ 5.71919421e-03 -1.48748100e-04 9.99983634e-01 1.12792306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:119.02, Z:1.13 [[-6.49167468e-01 7.60635944e-01 3.81554174e-03 1.31866921e+02] [-7.60624010e-01 -6.49178667e-01 4.26297373e-03 1.19017990e+02] [ 5.71953935e-03 -1.34808799e-04 9.99983634e-01 1.12695216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:119.02, Z:1.13 [[-6.50221530e-01 7.59735080e-01 3.81713703e-03 1.31866573e+02] [-7.59723139e-01 -6.50232721e-01 4.26154480e-03 1.19015139e+02] [ 5.71967248e-03 -1.29019145e-04 9.99983634e-01 1.12703833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:119.01, Z:1.13 [[-6.51686216e-01 7.58479066e-01 3.81873307e-03 1.31863563e+02] [-7.58467112e-01 -6.51697393e-01 4.26011412e-03 1.19006942e+02] [ 5.71986577e-03 -1.20125790e-04 9.99983634e-01 1.12706569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:119.01, Z:1.13 [[-6.52052422e-01 7.58164259e-01 3.82033143e-03 1.31866084e+02] [-7.58152308e-01 -6.52063603e-01 4.25868028e-03 1.19006416e+02] [ 5.71987826e-03 -1.19510297e-04 9.99983634e-01 1.12682769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:119.00, Z:1.13 [[-6.52201736e-01 7.58035809e-01 3.82193030e-03 1.31860388e+02] [-7.58023864e-01 -6.52212923e-01 4.25724490e-03 1.18996409e+02] [ 5.71985642e-03 -1.20531863e-04 9.99983634e-01 1.12629661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:119.00, Z:1.13 [[-6.52325889e-01 7.57928964e-01 3.82353759e-03 1.31866611e+02] [-7.57917026e-01 -6.52337083e-01 4.25580087e-03 1.18996300e+02] [ 5.71983010e-03 -1.21755153e-04 9.99983634e-01 1.12538376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:118.99, Z:1.13 [[-6.53058649e-01 7.57297675e-01 3.82514007e-03 1.31866022e+02] [-7.57285734e-01 -6.53069841e-01 4.25436005e-03 1.18993198e+02] [ 5.71990060e-03 -1.18377377e-04 9.99983634e-01 1.12527152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:118.99, Z:1.13 [[-6.53343200e-01 7.57052191e-01 3.82673837e-03 1.31864459e+02] [-7.57040254e-01 -6.53354396e-01 4.25292192e-03 1.18991351e+02] [ 5.71990019e-03 -1.18377369e-04 9.99983634e-01 1.12528592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:118.99, Z:1.13 [[-6.54538553e-01 7.56018932e-01 3.82833613e-03 1.31865693e+02] [-7.56006986e-01 -6.54549740e-01 4.25148319e-03 1.18987666e+02] [ 5.72003820e-03 -1.11489202e-04 9.99983634e-01 1.12517270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:118.98, Z:1.12 [[-6.55173786e-01 7.55468492e-01 3.82993282e-03 1.31861685e+02] [-7.55456545e-01 -6.55184971e-01 4.25004433e-03 1.18979920e+02] [ 5.72008900e-03 -1.08830182e-04 9.99983634e-01 1.12477781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:118.98, Z:1.12 [[-6.56274732e-01 7.54512290e-01 3.83153236e-03 1.31863935e+02] [-7.54500335e-01 -6.56285908e-01 4.24860181e-03 1.18978817e+02] [ 5.72020298e-03 -1.02642442e-04 9.99983634e-01 1.12446729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:118.98, Z:1.12 [[-6.57456893e-01 7.53482410e-01 3.83313319e-03 1.31864774e+02] [-7.53470446e-01 -6.57468060e-01 4.24715703e-03 1.18975151e+02] [ 5.72032075e-03 -9.58299037e-05 9.99983634e-01 1.12358619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:118.97, Z:1.12 [[-6.60537216e-01 7.50783512e-01 3.83473112e-03 1.31865803e+02] [-7.50771511e-01 -6.60548342e-01 4.24571378e-03 1.18968230e+02] [ 5.72063719e-03 -7.45549152e-05 9.99983634e-01 1.12269988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:118.96, Z:1.12 [[-6.62534651e-01 7.49021442e-01 3.83612767e-03 1.31862691e+02] [-7.49009419e-01 -6.62545754e-01 4.24445158e-03 1.18961395e+02] [ 5.72079534e-03 -6.11995078e-05 9.99983634e-01 1.12274095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:118.96, Z:1.12 [[-6.64481800e-01 7.47294593e-01 3.83773087e-03 1.31863197e+02] [-7.47282549e-01 -6.64492881e-01 4.24300151e-03 1.18958773e+02] [ 5.72091693e-03 -4.84720244e-05 9.99983634e-01 1.12209808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:118.95, Z:1.12 [[-6.67740990e-01 7.44383793e-01 3.83913239e-03 1.31859702e+02] [-7.44371708e-01 -6.67752026e-01 4.24173301e-03 1.18948694e+02] [ 5.72106574e-03 -2.53625341e-05 9.99983634e-01 1.12279120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:118.95, Z:1.12 [[-6.69644272e-01 7.42672072e-01 3.83963533e-03 1.31860284e+02] [-7.42659962e-01 -6.69655279e-01 4.24127770e-03 1.18946240e+02] [ 5.72111057e-03 -1.13961073e-05 9.99983634e-01 1.12306944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:118.94, Z:1.12 [[-6.71478995e-01 7.41013633e-01 3.84124790e-03 1.31856661e+02] [-7.41001504e-01 -6.71489982e-01 4.23981673e-03 1.18938960e+02] [ 5.72112148e-03 5.77405571e-07 9.99983634e-01 1.12265539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:118.94, Z:1.12 [[-6.73915657e-01 7.38798294e-01 3.84286230e-03 1.31858586e+02] [-7.38786137e-01 -6.73926613e-01 4.23835296e-03 1.18935509e+02] [ 5.72109512e-03 1.72390241e-05 9.99983634e-01 1.12050081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:118.93, Z:1.12 [[-6.75083122e-01 7.37731659e-01 3.84427417e-03 1.31857112e+02] [-7.37719491e-01 -6.75094067e-01 4.23707198e-03 1.18931706e+02] [ 5.72106883e-03 2.43797941e-05 9.99983634e-01 1.12028604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.531858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.86, Y:118.93, Z:1.12 [[-6.76795575e-01 7.36160960e-01 3.84589101e-03 1.31855666e+02] [-7.36148775e-01 -6.76806501e-01 4.23560391e-03 1.18927705e+02] [ 5.72101028e-03 3.54900236e-05 9.99983634e-01 1.11999035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:118.92, Z:1.12 [[-6.77467735e-01 7.35542429e-01 3.84750916e-03 1.31854029e+02] [-7.35530243e-01 -6.77478660e-01 4.23413351e-03 1.18924949e+02] [ 5.72099020e-03 3.85294967e-05 9.99983634e-01 1.11939234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:118.92, Z:1.12 [[-6.77985939e-01 7.35064793e-01 3.84912783e-03 1.31852763e+02] [-7.35052608e-01 -6.77996864e-01 4.23266152e-03 1.18922587e+02] [ 5.72097706e-03 4.03735489e-05 9.99983634e-01 1.11924310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:118.92, Z:1.12 [[-6.78199241e-01 7.34867989e-01 3.85074647e-03 1.31852681e+02] [-7.34855809e-01 -6.78210172e-01 4.23118841e-03 1.18921551e+02] [ 5.72098035e-03 3.98453575e-05 9.99983634e-01 1.11922018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.651858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.85, Y:118.92, Z:1.12 [[-6.77505886e-01 7.35507263e-01 3.85236401e-03 1.31852144e+02] [-7.35495102e-01 -6.77516837e-01 4.22971518e-03 1.18920949e+02] [ 5.72102772e-03 3.22620732e-05 9.99983634e-01 1.11734884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:118.92, Z:1.12 [[-6.76771460e-01 7.36183088e-01 3.85377427e-03 1.31849412e+02] [-7.36170945e-01 -6.76782432e-01 4.22842987e-03 1.18918428e+02] [ 5.72106529e-03 2.46440139e-05 9.99983634e-01 1.11691035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:118.92, Z:1.12 [[-6.75627587e-01 7.37233002e-01 3.85538968e-03 1.31850949e+02] [-7.37220885e-01 -6.75638587e-01 4.22695647e-03 1.18921445e+02] [ 5.72110184e-03 1.35746130e-05 9.99983634e-01 1.11703498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:118.92, Z:1.12 [[-6.72260517e-01 7.40304613e-01 3.85700158e-03 1.31848148e+02] [-7.40292554e-01 -6.72271581e-01 4.22548513e-03 1.18922543e+02] [ 5.72109869e-03 -1.46827294e-05 9.99983634e-01 1.11565562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:118.92, Z:1.12 [[-6.70590701e-01 7.41817513e-01 3.85860867e-03 1.31847089e+02] [-7.41805488e-01 -6.70601801e-01 4.22401707e-03 1.18923991e+02] [ 5.72103976e-03 -2.97505233e-05 9.99983634e-01 1.11551174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:118.92, Z:1.12 [[-6.69058664e-01 7.43199571e-01 3.86021283e-03 1.31843852e+02] [-7.43187577e-01 -6.69069799e-01 4.22255056e-03 1.18923500e+02] [ 5.72094959e-03 -4.37281765e-05 9.99983634e-01 1.11505080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:118.93, Z:1.11 [[-6.66374019e-01 7.45607640e-01 3.86181483e-03 1.31843411e+02] [-7.45595695e-01 -6.66385206e-01 4.22108491e-03 1.18928736e+02] [ 5.72072943e-03 -6.65311910e-05 9.99983634e-01 1.11431751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:118.85, Z:1.11 [[-6.65963104e-01 7.45974677e-01 3.86331482e-03 1.31772188e+02] [-7.45962746e-01 -6.65974306e-01 4.21971161e-03 1.18854335e+02] [ 5.72066641e-03 -7.17166915e-05 9.99983634e-01 1.11375219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:118.41, Z:2.15 [[-6.26335349e-01 -7.79544113e-01 -3.87385977e-03 1.31991634e+02] [-7.79532838e-01 6.26347212e-01 -4.21004512e-03 1.18406351e+02] [ 5.70829715e-03 3.82900822e-04 -9.99983634e-01 2.14734042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.921858064 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:131.26, Y:118.28, Z:1.12 [[-6.04863884e-01 7.96321147e-01 3.50878162e-03 1.31263305e+02] [-7.96308461e-01 -6.04874057e-01 4.49556532e-03 1.18275902e+02] [ 5.70228471e-03 -7.48673904e-05 9.99983739e-01 1.11798123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:118.28, Z:2.15 [[-5.70419474e-01 -8.21346037e-01 -3.50878162e-03 1.31857806e+02] [-8.21333795e-01 5.70430178e-01 -4.49556532e-03 1.18276010e+02] [ 5.69392968e-03 3.17522916e-04 -9.99983739e-01 2.14923396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.67, Y:118.89, Z:1.12 [[-5.49844836e-01 8.35260819e-01 3.16569586e-03 1.31666730e+02] [-8.35247443e-01 -5.49853947e-01 4.72719709e-03 1.18893537e+02] [ 5.68911288e-03 -4.49144619e-05 9.99983816e-01 1.11525524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.52, Y:118.69, Z:1.12 [[-5.51935558e-01 8.33880663e-01 3.19047199e-03 1.31522938e+02] [-8.33867361e-01 -5.51944776e-01 4.71041566e-03 1.18685691e+02] [ 5.68888888e-03 -6.05845615e-05 9.99983816e-01 1.11766385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:118.54, Z:2.14 [[-5.12315051e-01 -8.58791657e-01 -3.19047199e-03 1.31997926e+02] [-8.58778801e-01 5.12324881e-01 -4.71041566e-03 1.18536122e+02] [ 5.67982385e-03 3.26692870e-04 -9.99983816e-01 2.14410133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:118.54, Z:1.12 [[-4.95692493e-01 8.68493401e-01 2.85751083e-03 1.31401383e+02] [-8.68479554e-01 -4.95700727e-01 4.90441289e-03 1.18536036e+02] [ 5.67592042e-03 -5.06090812e-05 9.99983891e-01 1.11988486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:118.45, Z:2.14 [[-4.50492645e-01 -8.92775566e-01 -2.85751083e-03 1.31909491e+02] [-8.92762160e-01 4.50501578e-01 -4.90441289e-03 1.18452798e+02] [ 5.66585313e-03 3.41675609e-04 -9.99983891e-01 2.14417866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.131858064 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:131.69, Y:118.03, Z:2.15 [[-3.77255091e-01 -9.26105983e-01 -2.51098696e-03 1.31692271e+02] [-9.26092164e-01 3.77263224e-01 -5.07583670e-03 1.18033401e+02] [ 5.64806578e-03 4.10520112e-04 -9.99983965e-01 2.14644504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:118.64, Z:1.12 [[-3.78154186e-01 9.25740257e-01 2.09494189e-03 1.31369210e+02] [-9.25725413e-01 -3.78159986e-01 5.24251520e-03 1.18643793e+02] [ 5.64543057e-03 4.31381161e-05 9.99984064e-01 1.12216218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:118.39, Z:2.14 [[-3.14633594e-01 -9.49210843e-01 -2.11590361e-03 1.31807301e+02] [-9.49196482e-01 3.14640501e-01 -5.23396579e-03 1.18390086e+02] [ 5.63388605e-03 3.61626793e-04 -9.99984064e-01 2.14328155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:118.55, Z:1.12 [[-3.11355964e-01 9.50291734e-01 1.75592461e-03 1.31301539e+02] [-9.50276663e-01 -3.11360916e-01 5.35206932e-03 1.18552468e+02] [ 5.63275353e-03 -2.21547226e-06 9.99984136e-01 1.12313940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:118.55, Z:1.12 [[-3.12690388e-01 9.49853479e-01 1.75795761e-03 1.31300441e+02] [-9.49838404e-01 -3.12695330e-01 5.35140147e-03 1.18549630e+02] [ 5.63275243e-03 3.55615068e-06 9.99984136e-01 1.12312460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:118.52, Z:1.12 [[-3.17770329e-01 9.48166083e-01 1.75999478e-03 1.31290060e+02] [-9.48150986e-01 -3.17775201e-01 5.35073139e-03 1.18524856e+02] [ 5.63266472e-03 3.15628869e-05 9.99984136e-01 1.12425081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:118.29, Z:2.14 [[-2.40428102e-01 -9.70665323e-01 -1.77698989e-03 1.31748550e+02] [-9.70650706e-01 2.40434267e-01 -5.34511498e-03 1.18287257e+02] [ 5.61556702e-03 4.39720640e-04 -9.99984136e-01 2.14205879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.23, Y:118.42, Z:1.12 [[-2.51365356e-01 9.67891340e-01 1.34618656e-03 1.31225452e+02] [-9.67875969e-01 -2.51368951e-01 5.45527653e-03 1.18420316e+02] [ 5.61850442e-03 6.83259072e-05 9.99984214e-01 1.12442307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:118.40, Z:1.12 [[-2.56452843e-01 9.66555737e-01 1.39529100e-03 1.31218054e+02] [-9.66540414e-01 -2.56456634e-01 5.44268809e-03 1.18404417e+02] [ 5.61849303e-03 4.71876896e-05 9.99984215e-01 1.12497646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:118.20, Z:2.14 [[-1.80537823e-01 -9.83567042e-01 -1.40279625e-03 1.31695091e+02] [-9.83552074e-01 1.80542835e-01 -5.44074559e-03 1.18199599e+02] [ 5.60460286e-03 3.97462799e-04 -9.99984215e-01 2.14244229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:118.29, Z:1.13 [[-1.85465060e-01 9.82650327e-01 1.02276314e-03 1.31159443e+02] [-9.82634872e-01 -1.85467879e-01 5.51127128e-03 1.18287576e+02] [ 5.60534223e-03 1.71455294e-05 9.99984290e-01 1.12599517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:118.11, Z:2.14 [[-1.18103957e-01 -9.93000706e-01 -1.02655894e-03 1.31647608e+02] [-9.92985484e-01 1.18107843e-01 -5.51056217e-03 1.18109803e+02] [ 5.59323678e-03 3.68538931e-04 -9.99984290e-01 2.14275192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:118.17, Z:1.13 [[-1.12154864e-01 9.93690529e-01 6.47239140e-04 1.31109827e+02] [-9.93675004e-01 -1.12156729e-01 5.55476081e-03 1.18165441e+02] [ 5.59230543e-03 -2.01519138e-05 9.99984363e-01 1.12655093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:117.91, Z:1.13 [[-1.09698413e-01 9.93964706e-01 6.49342701e-04 1.31080826e+02] [-9.93949186e-01 -1.09700329e-01 5.55451490e-03 1.17914386e+02] [ 5.59222487e-03 -3.60921804e-05 9.99984363e-01 1.12754977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:117.99, Z:2.15 [[-5.51886421e-02 -9.98475734e-01 -6.49342701e-04 1.31598459e+02] [-9.98460343e-01 5.51914036e-02 -5.55451490e-03 1.17992204e+02] [ 5.58188648e-03 3.41796801e-04 -9.99984363e-01 2.14555333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:118.02, Z:1.13 [[-3.91116404e-02 9.99234816e-01 2.49772889e-04 1.31060470e+02] [-9.99219270e-01 -3.91124252e-02 5.57397287e-03 1.18016430e+02] [ 5.57947698e-03 -3.15706615e-05 9.99984434e-01 1.12589479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:118.02, Z:1.13 [[-3.87219429e-02 9.99249987e-01 2.74299210e-04 1.31061618e+02] [-9.99234449e-01 -3.87228705e-02 5.57276565e-03 1.18018006e+02] [ 5.57920766e-03 -5.83009069e-05 9.99984434e-01 1.12545498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:118.02, Z:1.13 [[-3.76664841e-02 9.99290328e-01 2.76402731e-04 1.31063527e+02] [-9.99274792e-01 -3.76674398e-02 5.57266132e-03 1.18016770e+02] [ 5.57911794e-03 -6.62997231e-05 9.99984434e-01 1.12520858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:118.01, Z:1.13 [[-3.84940453e-02 9.99258791e-01 2.78502428e-04 1.31064122e+02] [-9.99243254e-01 -3.84950000e-02 5.57255638e-03 1.18013528e+02] [ 5.57914690e-03 -6.37814344e-05 9.99984434e-01 1.12551524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:118.02, Z:1.13 [[-3.60591299e-02 9.99349615e-01 2.93016978e-04 1.31066991e+02] [-9.99334087e-01 -3.60602033e-02 5.57182495e-03 1.18015543e+02] [ 5.57876737e-03 -9.19066947e-05 9.99984434e-01 1.12551421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:118.01, Z:1.13 [[-3.61080271e-02 9.99347853e-01 2.82429364e-04 1.31067706e+02] [-9.99332320e-01 -3.61090407e-02 5.57236157e-03 1.18012994e+02] [ 5.57892582e-03 -8.10338097e-05 9.99984434e-01 1.12580190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:118.01, Z:1.13 [[-3.61159624e-02 9.99347565e-01 2.84523481e-04 1.31068733e+02] [-9.99332034e-01 -3.61169875e-02 5.57225464e-03 1.18010055e+02] [ 5.57889524e-03 -8.30860894e-05 9.99984434e-01 1.12608597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:118.00, Z:1.13 [[-3.62886082e-02 9.99341310e-01 2.86617556e-04 1.31070025e+02] [-9.99325779e-01 -3.62896423e-02 5.57214693e-03 1.18004749e+02] [ 5.57887786e-03 -8.42188559e-05 9.99984434e-01 1.12628666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:118.01, Z:1.13 [[-3.58940999e-02 9.99355557e-01 2.89421151e-04 1.31073411e+02] [-9.99340028e-01 -3.58951558e-02 5.57200170e-03 1.18005822e+02] [ 5.57879968e-03 -8.92281553e-05 9.99984434e-01 1.12552592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:118.00, Z:1.12 [[-3.99349170e-02 9.99202241e-01 2.90810012e-04 1.31072363e+02] [-9.99186707e-01 -3.99359178e-02 5.57192921e-03 1.18003543e+02] [ 5.57909792e-03 -6.80589680e-05 9.99984434e-01 1.12376679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881858064 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:131.08, Y:118.00, Z:1.12 [[-3.56076352e-02 9.99365793e-01 3.27795352e-04 1.31075244e+02] [-9.99350279e-01 -3.56089094e-02 5.56998439e-03 1.18003373e+02] [ 5.57812431e-03 -1.29248405e-04 9.99984434e-01 1.12397535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:118.00, Z:1.12 [[-3.52537020e-02 9.99378352e-01 2.93672980e-04 1.31077022e+02] [-9.99362824e-01 -3.52547916e-02 5.57178289e-03 1.17997158e+02] [ 5.57867258e-03 -9.70598847e-05 9.99984434e-01 1.12494813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941858064 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:131.04, Y:117.22, Z:1.13 [[-3.61577876e-02 9.99346050e-01 2.95765502e-04 1.31038329e+02] [-9.99330522e-01 -3.61588748e-02 5.57167181e-03 1.17222502e+02] [ 5.57872276e-03 -9.41081679e-05 9.99984434e-01 1.12804929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.52, Y:117.87, Z:2.15 [[-2.83919291e-03 -9.99995926e-01 -2.95765502e-04 1.31521520e+02] [-9.99980443e-01 2.84079687e-03 -5.57167181e-03 1.17867086e+02] [ 5.57248932e-03 2.79940667e-04 -9.99984434e-01 2.14736624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:117.82, Z:1.12 [[ 3.04287894e-02 9.99536933e-01 -8.75488431e-05 1.31024888e+02] [-9.99521441e-01 3.04288053e-02 5.56572565e-03 1.17822082e+02] [ 5.56581236e-03 -8.18513480e-05 9.99984507e-01 1.12248960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.51, Y:117.83, Z:2.15 [[ 7.72451167e-02 -9.97012132e-01 3.48178932e-05 1.31507365e+02] [-9.96996671e-01 -7.72441133e-02 -5.56640077e-03 1.17825566e+02] [ 5.55245857e-03 3.95263954e-04 -9.99984507e-01 2.14903317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:117.75, Z:1.12 [[ 1.09211018e-01 9.94018454e-01 -5.16330010e-04 1.31027484e+02] [-9.94003123e-01 1.09212202e-01 5.52137292e-03 1.17746311e+02] [ 5.54473611e-03 -8.97611155e-05 9.99984624e-01 1.12442860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:117.72, Z:1.12 [[ 1.08219263e-01 9.94126915e-01 -5.17804652e-04 1.31031869e+02] [-9.94111586e-01 1.08220471e-01 5.52123462e-03 1.17718547e+02] [ 5.54484500e-03 -8.27483396e-05 9.99984624e-01 1.12462813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:117.69, Z:1.12 [[ 1.06052988e-01 9.94360344e-01 -5.19343290e-04 1.31037048e+02] [-9.94345019e-01 1.06054238e-01 5.52108989e-03 1.17692175e+02] [ 5.54503140e-03 -6.91216688e-05 9.99984624e-01 1.12459663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.151858064 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:131.04, Y:117.66, Z:1.12 [[ 1.06108247e-01 9.94354449e-01 -5.20010616e-04 1.31041525e+02] [-9.94339124e-01 1.06109498e-01 5.52102703e-03 1.17662349e+02] [ 5.54503586e-03 -6.87595977e-05 9.99984624e-01 1.12436303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:117.71, Z:2.15 [[ 1.60277164e-01 -9.87071922e-01 5.01605529e-04 1.31547509e+02] [-9.87056549e-01 -1.60277474e-01 -5.52274731e-03 1.17706575e+02] [ 5.53174487e-03 3.90057252e-04 -9.99984624e-01 2.14853152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21185806399998 meters Centerline goodness : 0.996243 Centerline is valid? [True, True] Translation: X:131.09, Y:117.59, Z:1.13 [[ 1.79975371e-01 9.83670646e-01 -9.62085883e-04 1.31092012e+02] [-9.83655589e-01 1.79977940e-01 5.44273095e-03 1.17591596e+02] [ 5.52700890e-03 -3.31963665e-05 9.99984725e-01 1.12556976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:117.67, Z:2.15 [[ 2.39374516e-01 -9.70926865e-01 9.29462916e-04 1.31584360e+02] [-9.70911661e-01 -2.39375983e-01 -5.44837231e-03 1.17671914e+02] [ 5.51246214e-03 4.01775099e-04 -9.99984726e-01 2.14945589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27185806399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.14, Y:117.52, Z:1.13 [[ 2.50474383e-01 9.68122204e-01 -1.40740949e-03 1.31139342e+02] [-9.68107546e-01 2.50478336e-01 5.32762743e-03 1.17520450e+02] [ 5.51032000e-03 2.80895563e-05 9.99984818e-01 1.12694611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:117.49, Z:1.13 [[ 2.48903051e-01 9.68527467e-01 -1.34817974e-03 1.31145692e+02] [-9.68512732e-01 2.48906701e-01 5.34257386e-03 1.17491351e+02] [ 5.51000050e-03 -2.40536943e-05 9.99984820e-01 1.12867410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:117.46, Z:1.13 [[ 2.48420097e-01 9.68651485e-01 -1.32481850e-03 1.31153272e+02] [-9.68636720e-01 2.48423626e-01 5.34847567e-03 1.17464181e+02] [ 5.50992512e-03 -4.54009997e-05 9.99984819e-01 1.12964445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:117.44, Z:1.13 [[ 2.48340911e-01 9.68671781e-01 -1.33153871e-03 1.31160310e+02] [-9.68657025e-01 2.48344478e-01 5.34677605e-03 1.17436668e+02] [ 5.50995137e-03 -3.80189123e-05 9.99984819e-01 1.12994409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:117.41, Z:1.13 [[ 2.48729032e-01 9.68572186e-01 -1.33789677e-03 1.31166993e+02] [-9.68557437e-01 2.48732628e-01 5.34516648e-03 1.17411139e+02] [ 5.50995816e-03 -3.36682142e-05 9.99984820e-01 1.13002606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:117.38, Z:1.13 [[ 2.48019775e-01 9.68754024e-01 -1.35381130e-03 1.31173342e+02] [-9.68739300e-01 2.48023470e-01 5.34113264e-03 1.17382048e+02] [ 5.51002071e-03 -1.32163116e-05 9.99984820e-01 1.13025392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:117.35, Z:1.13 [[ 2.44029873e-01 9.69766791e-01 -1.33854698e-03 1.31176361e+02] [-9.69752061e-01 2.44033544e-01 5.34500372e-03 1.17351065e+02] [ 5.51005747e-03 -6.28188131e-06 9.99984820e-01 1.12927239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:117.33, Z:1.13 [[ 2.45878167e-01 9.69299882e-01 -1.29101431e-03 1.31184560e+02] [-9.69285080e-01 2.45881547e-01 5.35705157e-03 1.17328482e+02] [ 5.51002605e-03 -6.58211080e-05 9.99984818e-01 1.12984758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:117.30, Z:1.13 [[ 2.43444398e-01 9.69913925e-01 -1.34295961e-03 1.31188747e+02] [-9.69899204e-01 2.43448102e-01 5.34385607e-03 1.17303063e+02] [ 5.51002138e-03 1.60363958e-06 9.99984820e-01 1.12887103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.541858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.19, Y:117.27, Z:1.13 [[ 2.42531535e-01 9.70142572e-01 -1.35815063e-03 1.31194519e+02] [-9.70127876e-01 2.42535337e-01 5.33999245e-03 1.17274663e+02] [ 5.50995353e-03 2.24632226e-05 9.99984820e-01 1.12861029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:117.25, Z:1.13 [[ 2.41536366e-01 9.70390825e-01 -1.35274487e-03 1.31199801e+02] [-9.70376125e-01 2.41540153e-01 5.34136839e-03 1.17247902e+02] [ 5.50995708e-03 2.25366147e-05 9.99984820e-01 1.12935696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.67, Y:117.37, Z:2.15 [[ 3.28015031e-01 -9.44671525e-01 1.36017559e-03 1.31672744e+02] [-9.44656550e-01 -3.28017519e-01 -5.33947549e-03 1.17365292e+02] [ 5.49021188e-03 4.66529439e-04 -9.99984820e-01 2.14943979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.68, Y:117.36, Z:2.15 [[ 4.01150404e-01 -9.16010494e-01 1.76866950e-03 1.31677785e+02] [-9.15995850e-01 -4.01154032e-01 -5.20055021e-03 1.17359234e+02] [ 5.47326747e-03 4.66108889e-04 -9.99984913e-01 2.14995013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.23, Y:117.13, Z:1.13 [[ 3.89122125e-01 9.21183635e-01 -2.16388989e-03 1.31234651e+02] [-9.21169900e-01 3.89128140e-01 5.03054669e-03 1.17132015e+02] [ 5.47608773e-03 3.58132165e-05 9.99985005e-01 1.13031995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:117.11, Z:1.13 [[ 3.88648438e-01 9.21383581e-01 -2.16526163e-03 1.31242204e+02] [-9.21369852e-01 3.88654467e-01 5.02995619e-03 1.17105034e+02] [ 5.47605766e-03 4.01221691e-05 9.99985005e-01 1.13026841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.25, Y:117.08, Z:1.13 [[ 3.88528857e-01 9.21434009e-01 -2.16665246e-03 1.31251274e+02] [-9.21420284e-01 3.88534896e-01 5.02935702e-03 1.17078688e+02] [ 5.47604069e-03 4.23471899e-05 9.99985005e-01 1.13051198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.26, Y:117.05, Z:1.13 [[ 3.88675986e-01 9.21371954e-01 -2.16804130e-03 1.31259667e+02] [-9.21358232e-01 3.88682030e-01 5.02875826e-03 1.17052792e+02] [ 5.47603551e-03 4.29851236e-05 9.99985005e-01 1.13043457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:117.03, Z:1.13 [[ 3.89635411e-01 9.20966634e-01 -2.16898471e-03 1.31266452e+02] [-9.20952908e-01 3.89641446e-01 5.02835131e-03 1.17025333e+02] [ 5.47607012e-03 3.83090409e-05 9.99985005e-01 1.13024931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.28, Y:117.00, Z:1.13 [[ 3.90373506e-01 9.20654018e-01 -2.16922764e-03 1.31275877e+02] [-9.20640287e-01 3.90379531e-01 5.02824649e-03 1.16999104e+02] [ 5.47609740e-03 3.41841508e-05 9.99985005e-01 1.13058041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:116.97, Z:1.13 [[ 3.91697181e-01 9.20091629e-01 -2.17092182e-03 1.31285157e+02] [-9.20077894e-01 3.91703196e-01 5.02751493e-03 1.16972768e+02] [ 5.47613141e-03 2.81537483e-05 9.99985005e-01 1.13061080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:116.95, Z:1.13 [[ 3.92618089e-01 9.19699037e-01 -2.17226412e-03 1.31293338e+02] [-9.19685298e-01 3.92624097e-01 5.02693489e-03 1.16947291e+02] [ 5.47615041e-03 2.41338114e-05 9.99985005e-01 1.13120069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:116.91, Z:1.13 [[ 3.92010995e-01 9.19957966e-01 -2.17284466e-03 1.31297737e+02] [-9.19944233e-01 3.92017015e-01 5.02668394e-03 1.16911050e+02] [ 5.47613001e-03 2.83805390e-05 9.99985005e-01 1.13239532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:116.89, Z:1.13 [[ 3.95895052e-01 9.18293371e-01 -2.09592443e-03 1.31308651e+02] [-9.18279434e-01 3.95900592e-01 5.05990349e-03 1.16887126e+02] [ 5.47625355e-03 -7.85464488e-05 9.99985002e-01 1.13217458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.32, Y:116.86, Z:1.13 [[ 3.98764701e-01 9.17050755e-01 -2.15074378e-03 1.31318395e+02] [-9.17036927e-01 3.98770499e-01 5.03619032e-03 1.16863104e+02] [ 5.47609530e-03 -3.59434617e-05 9.99985005e-01 1.13335898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.32, Y:116.84, Z:1.13 [[ 4.01162908e-01 9.16004142e-01 -2.17550422e-03 1.31324783e+02] [-9.15990357e-01 4.01168806e-01 5.02547163e-03 1.16836373e+02] [ 5.47609726e-03 -2.32919232e-05 9.99985006e-01 1.13321800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:116.80, Z:1.13 [[ 4.00352072e-01 9.16358818e-01 -2.17612446e-03 1.31334665e+02] [-9.16345039e-01 4.00357986e-01 5.02520304e-03 1.16804401e+02] [ 5.47611793e-03 -1.77695988e-05 9.99985006e-01 1.13267085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:116.78, Z:1.13 [[ 4.01814653e-01 9.15718464e-01 -2.16316178e-03 1.31345952e+02] [-9.15704646e-01 4.01820473e-01 5.03081243e-03 1.16776862e+02] [ 5.47601052e-03 -4.06368573e-05 9.99985006e-01 1.13325491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:116.75, Z:1.13 [[ 4.01819828e-01 9.15716166e-01 -2.17461457e-03 1.31355527e+02] [-9.15702374e-01 4.01825711e-01 5.02585698e-03 1.16745560e+02] [ 5.47607453e-03 -2.81892588e-05 9.99985006e-01 1.13369378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:116.72, Z:1.13 [[ 4.00881761e-01 9.16127215e-01 -2.17711418e-03 1.31366357e+02] [-9.16113435e-01 4.00887672e-01 5.02477585e-03 1.16715410e+02] [ 5.47611214e-03 -1.98574424e-05 9.99985006e-01 1.13334973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.38, Y:116.69, Z:1.13 [[ 4.00360583e-01 9.16355107e-01 -2.17278487e-03 1.31376332e+02] [-9.16341320e-01 4.00366479e-01 5.02664720e-03 1.16688914e+02] [ 5.47610406e-03 -2.14588460e-05 9.99985006e-01 1.13316806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.171858064 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:131.38, Y:116.66, Z:1.13 [[ 3.97638137e-01 9.17539746e-01 -2.17419220e-03 1.31384026e+02] [-9.17525980e-01 3.97644081e-01 5.02603842e-03 1.16663889e+02] [ 5.47614467e-03 -3.66672792e-06 9.99985006e-01 1.13192889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:116.63, Z:1.13 [[ 3.98022621e-01 9.17372957e-01 -2.20261707e-03 1.31395082e+02] [-9.17359256e-01 3.98028715e-01 5.01374250e-03 1.16634631e+02] [ 5.47617662e-03 2.50082217e-05 9.99985005e-01 1.13420937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:116.61, Z:1.13 [[ 3.97750218e-01 9.17491193e-01 -2.16212615e-03 1.31404725e+02] [-9.17477398e-01 3.97756094e-01 5.03129388e-03 1.16606012e+02] [ 5.47616668e-03 -1.74963661e-05 9.99985006e-01 1.13366590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.41, Y:116.58, Z:1.13 [[ 3.97504257e-01 9.17597747e-01 -2.17733603e-03 1.31414293e+02] [-9.17583989e-01 3.97510220e-01 5.02470304e-03 1.16580146e+02] [ 5.47616951e-03 5.47837181e-07 9.99985006e-01 1.13464937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:116.54, Z:1.13 [[ 3.94366530e-01 9.18950650e-01 -2.17787261e-03 1.31424151e+02] [-9.18936914e-01 3.94372543e-01 5.02447046e-03 1.16544916e+02] [ 5.47613355e-03 1.98445527e-05 9.99985006e-01 1.13384446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.44, Y:116.52, Z:1.14 [[ 3.96096722e-01 9.18206343e-01 -2.12103114e-03 1.31436196e+02] [-9.18192462e-01 3.96102397e-01 5.04907331e-03 1.16521101e+02] [ 5.47623666e-03 -5.24065829e-05 9.99985004e-01 1.13550955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.351858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.44, Y:116.50, Z:1.14 [[ 3.95074187e-01 9.18646641e-01 -2.17623505e-03 1.31443843e+02] [-9.18632897e-01 3.95080181e-01 5.02516632e-03 1.16495013e+02] [ 5.47613949e-03 1.38476073e-05 9.99985006e-01 1.13576231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:116.46, Z:1.14 [[ 3.92246453e-01 9.19857587e-01 -2.17707619e-03 1.31451948e+02] [-9.19843863e-01 3.92252494e-01 5.02480188e-03 1.16462124e+02] [ 5.47606570e-03 3.16094546e-05 9.99985006e-01 1.13507573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.411858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.46, Y:116.43, Z:1.14 [[ 3.91563577e-01 9.20148613e-01 -2.12042273e-03 1.31462671e+02] [-9.20134759e-01 3.91569317e-01 5.04933145e-03 1.16434279e+02] [ 5.47642781e-03 -2.60596240e-05 9.99985004e-01 1.13589517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:116.41, Z:1.14 [[ 3.90046063e-01 9.20792863e-01 -2.13834128e-03 1.31469628e+02] [-9.20779061e-01 3.90051924e-01 5.04157045e-03 1.16406777e+02] [ 5.47630622e-03 2.49517764e-06 9.99985005e-01 1.13604456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.471858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.48, Y:116.38, Z:1.14 [[ 3.88814394e-01 9.21313647e-01 -2.12872359e-03 1.31478647e+02] [-9.21299830e-01 3.88820221e-01 5.04573758e-03 1.16382664e+02] [ 5.47639766e-03 -6.62720587e-07 9.99985004e-01 1.13517117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:116.64, Z:2.15 [[ 4.74617711e-01 -8.80189415e-01 2.14989177e-03 1.32066967e+02] [-8.80175146e-01 -4.74622318e-01 -5.03659222e-03 1.16641243e+02] [ 5.45354177e-03 4.98174565e-04 -9.99985005e-01 2.15371219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.531858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:131.51, Y:116.31, Z:1.13 [[ 4.61111958e-01 8.87338286e-01 -2.55500852e-03 1.31507809e+02] [-8.87325186e-01 4.61119034e-01 4.82193273e-03 1.16308617e+02] [ 5.45684858e-03 4.36725695e-05 9.99985110e-01 1.13388048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.52, Y:116.28, Z:1.13 [[ 4.61304114e-01 8.87238403e-01 -2.55557711e-03 1.31519497e+02] [-8.87225303e-01 4.61311190e-01 4.82163136e-03 1.16281847e+02] [ 5.45685283e-03 4.31342991e-05 9.99985110e-01 1.13401009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:116.25, Z:1.13 [[ 4.58868039e-01 8.88500754e-01 -2.55590127e-03 1.31530848e+02] [-8.88487674e-01 4.58875153e-01 4.82145952e-03 1.16245614e+02] [ 5.45671001e-03 5.84731050e-05 9.99985110e-01 1.13475349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.621858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.13, Y:116.57, Z:2.16 [[ 5.41575005e-01 -8.40648723e-01 2.49782162e-03 1.32125079e+02] [-8.40634887e-01 -5.41580508e-01 -4.85187005e-03 1.16566696e+02] [ 5.43148987e-03 5.27895551e-04 -9.99985110e-01 2.15724813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:116.58, Z:2.16 [[ 6.03322541e-01 -7.97492444e-01 2.77726997e-03 1.32139476e+02] [-7.97478960e-01 -6.03328628e-01 -4.67719139e-03 1.16577107e+02] [ 5.40563127e-03 6.07040631e-04 -9.99985205e-01 2.15618616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.16, Y:116.59, Z:2.16 [[ 6.61050756e-01 -7.50334561e-01 3.15352668e-03 1.32155323e+02] [-7.50321867e-01 -6.61058057e-01 -4.39795897e-03 1.16588475e+02] [ 5.38460484e-03 5.41114075e-04 -9.99985357e-01 2.15936788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:116.58, Z:2.16 [[ 7.14949876e-01 -6.99166762e-01 3.53754882e-03 1.32151563e+02] [-6.99155094e-01 -7.14958498e-01 -4.06217224e-03 1.16577843e+02] [ 5.36933641e-03 4.30954262e-04 -9.99985492e-01 2.15746921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74185806399998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:132.15, Y:116.56, Z:2.16 [[ 7.66599366e-01 -6.42114215e-01 3.84009971e-03 1.32149213e+02] [-6.42103381e-01 -7.66608874e-01 -3.75256454e-03 1.16564617e+02] [ 5.35342955e-03 4.10972587e-04 -9.99985586e-01 2.15832368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:116.55, Z:2.16 [[ 8.13426521e-01 -5.81652810e-01 4.15969384e-03 1.32147296e+02] [-5.81643143e-01 -8.13437094e-01 -3.36879637e-03 1.16551213e+02] [ 5.34311915e-03 3.20810917e-04 -9.99985674e-01 2.15863717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:116.54, Z:2.16 [[ 8.54030174e-01 -5.20204676e-01 4.42231227e-03 1.32140538e+02] [-5.20196104e-01 -8.54041584e-01 -2.99761752e-03 1.16535743e+02] [ 5.33621323e-03 2.59586202e-04 -9.99985729e-01 2.15695521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:116.53, Z:2.16 [[ 8.91240961e-01 -4.53506973e-01 4.57987102e-03 1.32141298e+02] [-4.53498872e-01 -8.91252656e-01 -2.73439371e-03 1.16527579e+02] [ 5.32188882e-03 3.60037340e-04 -9.99985774e-01 2.15764699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:116.51, Z:2.16 [[ 9.23534975e-01 -3.83484106e-01 4.80524444e-03 1.32140316e+02] [-3.83477423e-01 -9.23547439e-01 -2.27917566e-03 1.16514307e+02] [ 5.31189884e-03 2.62195685e-04 -9.99985857e-01 2.15724892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:116.50, Z:2.16 [[ 9.50712805e-01 -3.10033195e-01 4.95788307e-03 1.32143374e+02] [-3.10027496e-01 -9.50725695e-01 -1.89877593e-03 1.16503375e+02] [ 5.30227039e-03 2.68110520e-04 -9.99985907e-01 2.15781364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:116.49, Z:2.16 [[ 9.72153646e-01 -2.34288826e-01 5.10241240e-03 1.32145587e+02] [-2.34284510e-01 -9.72167015e-01 -1.43625322e-03 1.16488311e+02] [ 5.29689511e-03 2.00842619e-04 -9.99985951e-01 2.15572869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:116.47, Z:2.16 [[ 9.87456654e-01 -1.57804584e-01 5.20283440e-03 1.32143966e+02] [-1.57801525e-01 -9.87470347e-01 -9.95868628e-04 1.16471382e+02] [ 5.29479733e-03 1.62361903e-04 -9.99985969e-01 2.15590627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.14, Y:116.46, Z:2.16 [[ 9.96838819e-01 -7.92760077e-02 5.26160787e-03 1.32142973e+02] [-7.92739658e-02 -9.96852689e-01 -5.95835832e-04 1.16457835e+02] [ 5.29228344e-03 1.76843765e-04 -9.99985980e-01 2.15534244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:116.45, Z:2.15 [[ 9.99985888e-01 4.84605465e-04 5.29041519e-03 1.32140985e+02] [ 4.85489506e-04 -9.99999868e-01 -1.65819073e-04 1.16445503e+02] [ 5.29033414e-03 1.68385174e-04 -9.99985992e-01 2.15395571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:116.43, Z:2.15 [[ 9.96930279e-01 7.81157257e-02 5.28692615e-03 1.32137691e+02] [ 7.81159148e-02 -9.96944269e-01 1.71043020e-04 1.16429092e+02] [ 5.28413188e-03 2.42475107e-04 -9.99986009e-01 2.15227462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.071858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:132.14, Y:116.42, Z:2.15 [[ 9.87116577e-01 1.59916130e-01 5.26251961e-03 1.32140802e+02] [ 1.59915970e-01 -9.87130527e-01 4.53970913e-04 1.16422138e+02] [ 5.26739103e-03 3.93438714e-04 -9.99986050e-01 2.15400895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:116.41, Z:2.15 [[ 9.71320158e-01 2.37719218e-01 5.16957141e-03 1.32140270e+02] [ 2.37717219e-01 -9.71333882e-01 1.00672654e-03 1.16405376e+02] [ 5.26069811e-03 2.51042355e-04 -9.99986131e-01 2.15361572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.14, Y:116.40, Z:2.16 [[ 9.48607325e-01 3.16414400e-01 5.10586443e-03 1.32144986e+02] [ 3.16412150e-01 -9.48620975e-01 1.26405684e-03 1.16399691e+02] [ 5.24349588e-03 4.16463962e-04 -9.99986166e-01 2.15580263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:132.15, Y:116.38, Z:2.15 [[ 9.21787280e-01 3.87664726e-01 4.92652648e-03 1.32148570e+02] [ 3.87660631e-01 -9.21800411e-01 1.79946175e-03 1.16383965e+02] [ 5.23886198e-03 2.51099413e-04 -9.99986246e-01 2.15383339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.191858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.15, Y:116.38, Z:2.16 [[ 8.87303183e-01 4.61161376e-01 4.82146108e-03 1.32152205e+02] [ 4.61157006e-01 -8.87316190e-01 2.04833495e-03 1.16380158e+02] [ 5.22277344e-03 4.05956437e-04 -9.99986279e-01 2.15546703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:116.37, Z:2.15 [[ 8.48297636e-01 5.29500007e-01 4.56756109e-03 1.32160411e+02] [ 5.29493996e-01 -8.48309891e-01 2.53709642e-03 1.16368520e+02] [ 5.21809982e-03 2.66283279e-04 -9.99986350e-01 2.15429639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.251858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:132.17, Y:116.36, Z:2.15 [[ 8.04487519e-01 5.93953551e-01 4.36009136e-03 1.32168615e+02] [ 5.93946685e-01 -8.04499285e-01 2.86978265e-03 1.16358215e+02] [ 5.21220798e-03 2.80957480e-04 -9.99986377e-01 2.15340473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:116.35, Z:2.15 [[ 7.55384502e-01 6.55268880e-01 4.11702152e-03 1.32175827e+02] [ 6.55261131e-01 -7.55395668e-01 3.19909728e-03 1.16347689e+02] [ 5.20624911e-03 2.81175675e-04 -9.99986408e-01 2.15385215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:116.34, Z:2.15 [[ 7.02568373e-01 7.11605737e-01 3.86739520e-03 1.32185093e+02] [ 7.11597256e-01 -7.02578952e-01 3.48735207e-03 1.16339533e+02] [ 5.19877021e-03 3.01924536e-04 -9.99986441e-01 2.15174498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:132.20, Y:116.33, Z:2.15 [[ 6.45694354e-01 7.63587645e-01 3.56498106e-03 1.32197612e+02] [ 7.63578309e-01 -6.45704136e-01 3.78616454e-03 1.16329359e+02] [ 5.19299148e-03 2.77437148e-04 -9.99986478e-01 2.15278754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.371858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:132.21, Y:116.32, Z:2.15 [[ 5.83616633e-01 8.12022843e-01 3.24459457e-03 1.32210009e+02] [ 8.12012755e-01 -5.83625591e-01 4.05649857e-03 1.16319159e+02] [ 5.18759793e-03 2.67212134e-04 -9.99986509e-01 2.15138587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:116.31, Z:2.15 [[ 5.18709181e-01 8.54945792e-01 2.91169632e-03 1.32219973e+02] [ 8.54935043e-01 -5.18717287e-01 4.29519974e-03 1.16312827e+02] [ 5.18251016e-03 2.61351676e-04 -9.99986537e-01 2.15113610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.23, Y:116.31, Z:2.15 [[ 4.51593381e-01 8.92220213e-01 2.55122741e-03 1.32233097e+02] [ 8.92208830e-01 -4.51600525e-01 4.51319292e-03 1.16306120e+02] [ 5.17889758e-03 2.38099574e-04 -9.99986561e-01 2.15209702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.24, Y:116.30, Z:2.15 [[ 3.80633943e-01 9.24723173e-01 2.20335211e-03 1.32243438e+02] [ 9.24711324e-01 -3.80640236e-01 4.68807737e-03 1.16301662e+02] [ 5.17385825e-03 2.53023273e-04 -9.99986584e-01 2.15200555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:116.30, Z:2.15 [[ 3.06905618e-01 9.51738348e-01 1.74861691e-03 1.32254079e+02] [ 9.51725888e-01 -3.06910553e-01 4.87300632e-03 1.16295948e+02] [ 5.17449597e-03 1.68650959e-04 -9.99986598e-01 2.15243734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.27, Y:116.29, Z:2.15 [[ 2.34036873e-01 9.72226608e-01 1.47136466e-03 1.32267856e+02] [ 9.72213984e-01 -2.34041344e-01 4.96175458e-03 1.16293764e+02] [ 5.16830999e-03 2.69247767e-04 -9.99986608e-01 2.15128140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.551858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:132.26, Y:116.29, Z:2.15 [[ 1.52897816e-01 9.88241517e-01 9.80992401e-04 1.32260292e+02] [ 9.88228500e-01 -1.52900841e-01 5.07593785e-03 1.16290265e+02] [ 5.16624708e-03 1.93344837e-04 -9.99986636e-01 2.15097106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:116.29, Z:2.15 [[ 8.29232716e-02 9.96555675e-01 7.19427405e-04 1.32260643e+02] [ 9.96542586e-01 -8.29258758e-02 5.11609614e-03 1.16289955e+02] [ 5.15813379e-03 2.92696617e-04 -9.99986654e-01 2.15253457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.28, Y:116.29, Z:2.15 [[ 6.14849284e-03 9.99981065e-01 2.57093332e-04 1.32275758e+02] [ 9.99967825e-01 -6.14973567e-03 5.15069365e-03 1.16289447e+02] [ 5.15217717e-03 2.25416057e-04 -9.99986702e-01 2.15271026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.31, Y:116.26, Z:2.15 [[-6.91695707e-02 9.97604914e-01 -7.88616081e-05 1.32314194e+02] [ 9.97591655e-01 6.91690586e-02 5.15076676e-03 1.16260327e+02] [ 5.14388502e-03 2.77604644e-04 -9.99986732e-01 2.15345704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:116.23, Z:2.15 [[-1.39534645e-01 9.90217081e-01 -4.64734300e-04 1.32357368e+02] [ 9.90203873e-01 1.39535188e-01 5.12067955e-03 1.16228462e+02] [ 5.13543114e-03 2.54330502e-04 -9.99986781e-01 2.15231702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.701858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.40, Y:116.22, Z:2.15 [[-2.14202670e-01 9.76788910e-01 -8.00385810e-04 1.32396582e+02] [ 9.76775809e-01 2.14203950e-01 5.06821191e-03 1.16216464e+02] [ 5.12201899e-03 3.03827027e-04 -9.99986836e-01 2.15328698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.731858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:132.44, Y:116.19, Z:2.15 [[-2.88233237e-01 9.57559502e-01 -1.18380678e-03 1.32441207e+02] [ 9.57546614e-01 2.88235511e-01 4.97711744e-03 1.16189137e+02] [ 5.10710125e-03 3.01020493e-04 -9.99986913e-01 2.15287078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:116.17, Z:2.15 [[-3.61012344e-01 9.32559713e-01 -1.57109436e-03 1.32485984e+02] [ 9.32547134e-01 3.61015649e-01 4.85229555e-03 1.16168977e+02] [ 5.09224500e-03 2.86619049e-04 -9.99986993e-01 2.15319531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.53, Y:116.16, Z:2.15 [[-4.33715522e-01 9.01047720e-01 -1.96267015e-03 1.32526978e+02] [ 9.01035548e-01 4.33719881e-01 4.69104132e-03 1.16164516e+02] [ 5.07810115e-03 2.66141862e-04 -9.99987071e-01 2.15276621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.58, Y:116.15, Z:2.15 [[-5.03057772e-01 8.64249612e-01 -2.34218485e-03 1.32575889e+02] [ 8.64237937e-01 5.03063168e-01 4.49848668e-03 1.16152853e+02] [ 5.06608230e-03 2.38793683e-04 -9.99987139e-01 2.15297400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.63, Y:116.15, Z:2.15 [[-5.67823737e-01 8.23145798e-01 -2.68300563e-03 1.32626758e+02] [ 8.23134648e-01 5.67830030e-01 4.29045875e-03 1.16147457e+02] [ 5.05516426e-03 2.27749429e-04 -9.99987197e-01 2.15259369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.67, Y:116.14, Z:2.15 [[-6.35107160e-01 7.72418336e-01 -2.96826826e-03 1.32672733e+02] [ 7.72407596e-01 6.35114024e-01 4.08441219e-03 1.16143420e+02] [ 5.04006367e-03 3.01326477e-04 -9.99987253e-01 2.15491777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.71, Y:116.16, Z:2.16 [[-6.97289455e-01 7.16781970e-01 -3.32025173e-03 1.32711160e+02] [ 7.16772024e-01 6.97297311e-01 3.78487667e-03 1.16156353e+02] [ 5.02813395e-03 2.59291037e-04 -9.99987325e-01 2.15601423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:116.16, Z:2.16 [[-7.50314619e-01 6.61070997e-01 -3.62079021e-03 1.32760572e+02] [ 6.61061847e-01 7.50323322e-01 3.48515413e-03 1.16163898e+02] [ 5.02069765e-03 2.21395830e-04 -9.99987372e-01 2.15525711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.81, Y:116.17, Z:2.16 [[-8.01376106e-01 5.98148456e-01 -3.84201002e-03 1.32805168e+02] [ 5.98139818e-01 8.01385264e-01 3.22736495e-03 1.16174563e+02] [ 5.00937357e-03 2.88273979e-04 -9.99987411e-01 2.15546438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:116.19, Z:2.16 [[-8.45853936e-01 5.33398899e-01 -4.09058034e-03 1.32852363e+02] [ 5.33391151e-01 8.45863787e-01 2.88671203e-03 1.16188146e+02] [ 4.99984280e-03 2.59857375e-04 -9.99987467e-01 2.15500180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.031858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.88, Y:116.21, Z:2.16 [[-8.85233957e-01 4.65126259e-01 -4.29000445e-03 1.32884765e+02] [ 4.65119278e-01 8.85244310e-01 2.56300859e-03 1.16211979e+02] [ 4.98982463e-03 2.73498464e-04 -9.99987513e-01 2.15582500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:132.94, Y:116.23, Z:2.16 [[-9.18136661e-01 3.96238462e-01 -4.48915529e-03 1.32938043e+02] [ 3.96232559e-01 9.18147610e-01 2.17389083e-03 1.16228406e+02] [ 4.98308636e-03 2.17179383e-04 -9.99987561e-01 2.15521818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.091858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.98, Y:116.25, Z:2.15 [[-9.45827972e-01 3.24635355e-01 -4.61891320e-03 1.32977685e+02] [ 3.24630116e-01 9.45839213e-01 1.86301955e-03 1.16252254e+02] [ 4.97355124e-03 2.62657676e-04 -9.99987597e-01 2.15475570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:116.28, Z:2.15 [[-9.66947878e-01 2.54930039e-01 -4.74087193e-03 1.33021946e+02] [ 2.54925784e-01 9.66959472e-01 1.49129741e-03 1.16280104e+02] [ 4.96440753e-03 2.33436378e-04 -9.99987650e-01 2.15293571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:116.31, Z:2.15 [[-9.84234142e-01 1.76804749e-01 -4.82024237e-03 1.33058060e+02] [ 1.76801148e-01 9.84245901e-01 1.16646340e-03 1.16306824e+02] [ 4.95054006e-03 2.95848713e-04 -9.99987702e-01 2.15380542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:117.01, Z:1.15 [[-9.89109179e-01 -1.47102553e-01 4.88577748e-03 1.33167719e+02] [ 1.47100569e-01 -9.89121245e-01 -7.64982348e-04 1.17011879e+02] [ 4.94515716e-03 -3.79504128e-05 9.99987772e-01 1.14556973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.09, Y:116.34, Z:2.16 [[-9.95000584e-01 9.97501336e-02 -4.87326914e-03 1.33087491e+02] [ 9.97472085e-02 9.95012456e-01 8.40257300e-04 1.16339277e+02] [ 4.93277928e-03 3.49961511e-04 -9.99987773e-01 2.15616753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24185806399998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:133.14, Y:117.05, Z:1.14 [[-9.97583590e-01 -6.93025404e-02 4.91304540e-03 1.33138549e+02] [ 6.93015495e-02 -9.97595688e-01 -3.71840797e-04 1.17047897e+02] [ 4.92700242e-03 -3.04606183e-05 9.99987862e-01 1.14390400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:116.38, Z:2.16 [[-9.99717173e-01 2.32703186e-02 -4.90579360e-03 1.33115111e+02] [ 2.32683664e-02 9.99729152e-01 4.54641565e-04 1.16376055e+02] [ 4.91504453e-03 3.40363177e-04 -9.99987863e-01 2.15722875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.301858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:133.11, Y:117.08, Z:1.15 [[-9.99906588e-01 1.27559595e-02 4.90924211e-03 1.33111905e+02] [-1.27561126e-02 -9.99918638e-01 1.17238937e-07 1.17078929e+02] [ 4.90884417e-03 -6.25056172e-05 9.99987950e-01 1.14530493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.331858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:133.14, Y:116.42, Z:2.15 [[-9.98697635e-01 -5.07832317e-02 -4.90893666e-03 1.33140746e+02] [-5.07840337e-02 9.98709658e-01 3.87962063e-05 1.16417551e+02] [ 4.90063225e-03 2.88041284e-04 -9.99987950e-01 2.15493620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:117.11, Z:1.14 [[-9.95733325e-01 9.21483301e-02 4.88173768e-03 1.33081753e+02] [-9.21477412e-02 -9.95745286e-01 3.45901992e-04 1.17111433e+02] [ 4.89284157e-03 -1.05414959e-04 9.99988024e-01 1.14258390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:117.11, Z:1.14 [[-9.95093875e-01 9.88147772e-02 4.88062014e-03 1.33086819e+02] [-9.88141908e-02 -9.95105836e-01 3.61724618e-04 1.17107477e+02] [ 4.89247732e-03 -1.22324578e-04 9.99988024e-01 1.13746971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:117.11, Z:1.14 [[-9.95334089e-01 9.63652550e-02 4.87734895e-03 1.33073167e+02] [-9.63644124e-02 -9.95346037e-01 4.08007181e-04 1.17107533e+02] [ 4.89396767e-03 -6.38994098e-05 9.99988022e-01 1.13873678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:117.11, Z:1.14 [[-9.95440234e-01 9.52625071e-02 4.87808292e-03 1.33070603e+02] [-9.52617022e-02 -9.95452184e-01 3.97618988e-04 1.17107704e+02] [ 4.89377647e-03 -6.88885439e-05 9.99988023e-01 1.13851116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:117.11, Z:1.13 [[-9.94961833e-01 1.00135667e-01 4.87839873e-03 1.33079717e+02] [-1.00134942e-01 -9.94973788e-01 3.93130589e-04 1.17106101e+02] [ 4.89324526e-03 -9.73482440e-05 9.99988023e-01 1.13476654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:117.11, Z:1.14 [[-9.95474501e-01 9.49037828e-02 4.87751193e-03 1.33077252e+02] [-9.49029338e-02 -9.95486448e-01 4.05734646e-04 1.17109648e+02] [ 4.89400278e-03 -5.89916984e-05 9.99988023e-01 1.13820660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:117.11, Z:1.14 [[-9.95459113e-01 9.50649813e-02 4.87895081e-03 1.33072383e+02] [-9.50642348e-02 -9.95471066e-01 3.85218933e-04 1.17108986e+02] [ 4.89347519e-03 -8.03440277e-05 9.99988024e-01 1.13796612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.81, Y:117.09, Z:1.14 [[-9.95593665e-01 9.36453277e-02 4.87923390e-03 1.32813668e+02] [-9.36445842e-02 -9.95605618e-01 3.81115002e-04 1.17089973e+02] [ 4.89348232e-03 -7.74781486e-05 9.99988024e-01 1.13879046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:117.11, Z:1.14 [[-9.96568964e-01 8.26226229e-02 4.87866632e-03 1.32960838e+02] [-8.26217069e-02 -9.96580906e-01 3.89351530e-04 1.17105374e+02] [ 4.89415495e-03 -1.50680874e-05 9.99988023e-01 1.14396323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.14, Y:116.45, Z:2.16 [[-9.91361042e-01 -1.31070380e-01 -4.88266225e-03 1.33135402e+02] [-1.31070334e-01 9.91373017e-01 -3.30653819e-04 1.16454579e+02] [ 4.88387852e-03 3.12174858e-04 -9.99988025e-01 2.15863956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.72, Y:117.10, Z:1.14 [[-9.87421213e-01 1.58038112e-01 4.82729974e-03 1.32716439e+02] [-1.58036539e-01 -9.87433011e-01 7.08084811e-04 1.17101707e+02] [ 4.87853950e-03 -6.37117783e-05 9.99988098e-01 1.14263282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:117.15, Z:1.14 [[-9.87608166e-01 1.56865593e-01 4.82670714e-03 1.33024117e+02] [-1.56863986e-01 -9.87619959e-01 7.12114026e-04 1.17147985e+02] [ 4.87865850e-03 -5.38468934e-05 9.99988098e-01 1.14234959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:116.49, Z:2.16 [[-9.77542583e-01 -2.10682689e-01 -4.82737672e-03 1.33152176e+02] [-2.10681752e-01 9.77554448e-01 -7.07545657e-04 1.16491434e+02] [ 4.86809121e-03 3.25384178e-04 -9.99988098e-01 2.15841572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.66, Y:117.11, Z:1.14 [[-9.74466034e-01 2.24484867e-01 4.74272922e-03 1.32659918e+02] [-2.24482272e-01 -9.74477575e-01 1.07945675e-03 1.17110413e+02] [ 4.86400497e-03 -1.27646970e-05 9.99988171e-01 1.14062337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.04, Y:116.50, Z:2.16 [[-9.60573551e-01 -2.77985539e-01 -4.74272922e-03 1.33035715e+02] [-2.77983586e-01 9.60585218e-01 -1.07945675e-03 1.16501223e+02] [ 4.85586894e-03 2.81503276e-04 -9.99988171e-01 2.15846609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:117.10, Z:1.14 [[-9.59380726e-01 2.82076270e-01 4.64770472e-03 1.32542209e+02] [-2.82072818e-01 -9.59391983e-01 1.39585558e-03 1.17104691e+02] [ 4.85270838e-03 2.81657732e-05 9.99988225e-01 1.14268049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.93, Y:116.50, Z:2.16 [[-9.38785666e-01 -3.44470422e-01 -4.64770472e-03 1.32925825e+02] [-3.44467717e-01 9.38797126e-01 -1.39585558e-03 1.16503949e+02] [ 4.84408280e-03 2.90575022e-04 -9.99988225e-01 2.15817518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.67, Y:117.17, Z:1.15 [[-9.33319086e-01 3.59019422e-01 4.53187553e-03 1.32667598e+02] [-3.59015380e-01 -9.33330088e-01 1.70392379e-03 1.17170041e+02] [ 4.84147752e-03 -3.67084168e-05 9.99988279e-01 1.14525717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:116.46, Z:2.16 [[-9.09089327e-01 -4.16576586e-01 -4.53251754e-03 1.32732509e+02] [-4.16573247e-01 9.09100562e-01 -1.70221429e-03 1.16458316e+02] [ 4.82961686e-03 3.40660704e-04 -9.99988279e-01 2.15867467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.83, Y:116.54, Z:2.16 [[-8.77934562e-01 -4.78759190e-01 -4.53251754e-03 1.32826854e+02] [-4.78756640e-01 8.77946002e-01 -1.70221429e-03 1.16539746e+02] [ 4.79425639e-03 6.75540109e-04 -9.99988279e-01 2.15944879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:117.16, Z:1.15 [[-8.72070581e-01 4.89362183e-01 4.18996057e-03 1.32468340e+02] [-4.89356681e-01 -8.72080646e-01 2.32069529e-03 1.17162697e+02] [ 4.78964403e-03 -2.65751039e-05 9.99988529e-01 1.14595237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99185806399998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.47, Y:117.17, Z:1.15 [[-8.72567765e-01 4.88475109e-01 4.19083783e-03 1.32469775e+02] [-4.88469605e-01 -8.72577829e-01 2.31911000e-03 1.17165102e+02] [ 4.78965968e-03 -2.35162725e-05 9.99988529e-01 1.14620647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02185806399999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.47, Y:117.16, Z:1.15 [[-8.72854456e-01 4.87962630e-01 4.19171450e-03 1.32466449e+02] [-4.87957127e-01 -8.72864521e-01 2.31752437e-03 1.17163861e+02] [ 4.78966415e-03 -2.25154909e-05 9.99988529e-01 1.14648397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.051858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.46, Y:117.16, Z:1.15 [[-8.72835935e-01 4.87995750e-01 4.19258927e-03 1.32462119e+02] [-4.87990255e-01 -8.72846004e-01 2.31594075e-03 1.17162962e+02] [ 4.78965404e-03 -2.45064007e-05 9.99988529e-01 1.14652830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.081858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.46, Y:117.16, Z:1.15 [[-8.72685438e-01 4.88264827e-01 4.19346445e-03 1.32462590e+02] [-4.88259342e-01 -8.72695513e-01 2.31435498e-03 1.17163933e+02] [ 4.78963574e-03 -2.77943018e-05 9.99988529e-01 1.14673016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:117.16, Z:1.15 [[-8.72682318e-01 4.88270396e-01 4.19433874e-03 1.32459619e+02] [-4.88264919e-01 -8.72692397e-01 2.31276941e-03 1.17163085e+02] [ 4.78962436e-03 -2.96354931e-05 9.99988529e-01 1.14642432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.45, Y:117.16, Z:1.15 [[-8.72519468e-01 4.88561335e-01 4.19521143e-03 1.32448787e+02] [-4.88555869e-01 -8.72529553e-01 2.31118532e-03 1.17158306e+02] [ 4.78960174e-03 -3.30409765e-05 9.99988529e-01 1.14655561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.171858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.43, Y:117.15, Z:1.15 [[-8.72662046e-01 4.88306611e-01 4.19608667e-03 1.32434748e+02] [-4.88301150e-01 -8.72672133e-01 2.30959517e-03 1.17150979e+02] [ 4.78959850e-03 -3.34579047e-05 9.99988529e-01 1.14596017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.201858064 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:132.23, Y:116.20, Z:2.17 [[-8.38050985e-01 -5.45575780e-01 -4.19696871e-03 1.32231203e+02] [-5.45571014e-01 8.38061419e-01 -2.30799123e-03 1.16198845e+02] [ 4.77650167e-03 3.55530148e-04 -9.99988529e-01 2.16515036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.231858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.38, Y:117.18, Z:1.15 [[-8.38366663e-01 5.45092112e-01 3.99098208e-03 1.32379248e+02] [-5.45085809e-01 -8.38376162e-01 2.62157745e-03 1.17181829e+02] [ 4.77494543e-03 2.24154468e-05 9.99988600e-01 1.14568964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.59, Y:116.47, Z:2.16 [[-7.97340077e-01 -6.03516914e-01 -4.01709404e-03 1.32592095e+02] [-6.03511504e-01 7.97350112e-01 -2.58130862e-03 1.16468207e+02] [ 4.76089379e-03 3.66181653e-04 -9.99988600e-01 2.16295508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.69, Y:116.59, Z:2.16 [[-7.54343677e-01 -6.56467425e-01 -4.01709404e-03 1.32685352e+02] [-6.56462712e-01 7.54354058e-01 -2.58130862e-03 1.16586177e+02] [ 4.72485621e-03 6.89878612e-04 -9.99988600e-01 2.16102352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:117.13, Z:1.15 [[-7.45254645e-01 6.66770568e-01 3.53895289e-03 1.32193384e+02] [-6.66763254e-01 -7.45263047e-01 3.12311532e-03 1.17129357e+02] [ 4.71985219e-03 -3.21275510e-05 9.99988861e-01 1.14500735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:117.13, Z:1.14 [[-7.44451446e-01 6.67667217e-01 3.54013127e-03 1.32192852e+02] [-6.67659920e-01 -7.44459862e-01 3.12177902e-03 1.17128613e+02] [ 4.71979515e-03 -3.95908532e-05 9.99988861e-01 1.14473254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:117.12, Z:1.15 [[-7.44134035e-01 6.68020956e-01 3.54130953e-03 1.32187513e+02] [-6.68013669e-01 -7.44142460e-01 3.12044184e-03 1.17124419e+02] [ 4.71975933e-03 -4.36161924e-05 9.99988861e-01 1.14528805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.411858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.19, Y:117.12, Z:1.14 [[-7.40155743e-01 6.72426150e-01 3.54248864e-03 1.32189188e+02] [-6.72418920e-01 -7.40164216e-01 3.11910269e-03 1.17122723e+02] [ 4.71938954e-03 -7.34146146e-05 9.99988861e-01 1.14103920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.19, Y:117.12, Z:1.14 [[-7.40389434e-01 6.72168918e-01 3.52589088e-03 1.32187878e+02] [-6.72161595e-01 -7.40397828e-01 3.13795601e-03 1.17123953e+02] [ 4.71979844e-03 -4.66589636e-05 9.99988861e-01 1.14341414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:117.13, Z:1.15 [[-7.42522030e-01 6.69812361e-01 3.52650161e-03 1.32186817e+02] [-6.69805015e-01 -7.42530403e-01 3.13726175e-03 1.17125935e+02] [ 4.71991136e-03 -3.25824972e-05 9.99988861e-01 1.14569859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.54, Y:116.50, Z:2.16 [[-7.06349942e-01 -7.07853934e-01 -3.54511886e-03 1.32544400e+02] [-7.07847142e-01 7.06358771e-01 -3.11608118e-03 1.16497177e+02] [ 4.70985612e-03 3.08358497e-04 -9.99988861e-01 2.16030225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.56, Y:116.57, Z:2.16 [[-6.56035602e-01 -7.54721618e-01 -3.54511886e-03 1.32562921e+02] [-7.54715449e-01 6.56044877e-01 -3.11608118e-03 1.16566613e+02] [ 4.67753090e-03 6.31295783e-04 -9.99988861e-01 2.16059086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:117.04, Z:1.14 [[-6.32665560e-01 7.74419256e-01 3.01748968e-03 1.32004379e+02] [-7.74411060e-01 -6.32672751e-01 3.56366181e-03 1.17036724e+02] [ 4.66885182e-03 -8.21712847e-05 9.99989097e-01 1.14318681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:117.03, Z:1.15 [[-6.39697802e-01 7.68620724e-01 2.98417781e-03 1.31992778e+02] [-7.68612331e-01 -6.39704762e-01 3.59191502e-03 1.17029975e+02] [ 4.66981308e-03 4.06428093e-06 9.99989096e-01 1.14726332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:116.51, Z:2.16 [[-6.02972800e-01 -7.97756164e-01 -2.98417781e-03 1.32473573e+02] [-7.97748107e-01 6.02980146e-01 -3.59191502e-03 1.16509424e+02] [ 4.66487232e-03 2.14795139e-04 -9.99989096e-01 2.16175818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.39, Y:116.45, Z:2.16 [[-5.46913146e-01 -8.37184033e-01 -2.98417781e-03 1.32392779e+02] [-8.37176498e-01 5.46921026e-01 -3.59191502e-03 1.16450708e+02] [ 4.63920350e-03 5.33817985e-04 -9.99989096e-01 2.16219052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.77, Y:116.84, Z:1.15 [[-5.32493636e-01 8.46430347e-01 2.48900565e-03 1.31768123e+02] [-8.46421324e-01 -5.32499453e-01 3.90830211e-03 1.16837252e+02] [ 4.63349965e-03 -2.56014617e-05 9.99989265e-01 1.14816552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:116.38, Z:2.16 [[-4.87300105e-01 -8.73231019e-01 -2.48900565e-03 1.32309092e+02] [-8.73222314e-01 4.87306387e-01 -3.90830211e-03 1.16380465e+02] [ 4.62575898e-03 2.68939252e-04 -9.99989265e-01 2.16336918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.66, Y:116.72, Z:1.15 [[-4.75650121e-01 8.79631757e-01 2.22143638e-03 1.31662192e+02] [-8.79622411e-01 -4.75655307e-01 4.05488793e-03 1.16717532e+02] [ 4.62344620e-03 -2.53172937e-05 9.99989312e-01 1.14913754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.66, Y:116.72, Z:1.15 [[-4.76726198e-01 8.79049027e-01 2.22271041e-03 1.31664224e+02] [-8.79039678e-01 -4.76731379e-01 4.05418924e-03 1.16719693e+02] [ 4.62346691e-03 -2.11124143e-05 9.99989312e-01 1.14917279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.66, Y:116.71, Z:1.15 [[-4.78785954e-01 8.77928850e-01 2.22387992e-03 1.31659720e+02] [-8.77919492e-01 -4.78791118e-01 4.05354720e-03 1.16711241e+02] [ 4.62349998e-03 -1.16060630e-05 9.99989312e-01 1.14906980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:116.29, Z:2.16 [[-4.20109078e-01 -9.07470890e-01 -2.22387992e-03 1.32223901e+02] [-9.07461892e-01 4.20114846e-01 -4.05354720e-03 1.16288575e+02] [ 4.61276105e-03 3.15154297e-04 -9.99989312e-01 2.16419608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.861858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.56, Y:116.59, Z:1.15 [[-4.23493981e-01 9.05896867e-01 1.92738029e-03 1.31559519e+02] [-9.05887172e-01 -4.23498366e-01 4.19125991e-03 1.16586138e+02] [ 4.61309163e-03 2.89842622e-05 9.99989359e-01 1.15042972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:116.20, Z:2.16 [[-3.57191170e-01 -9.34029311e-01 -1.92738029e-03 1.32148865e+02] [-9.34019956e-01 3.57196241e-01 -4.19125991e-03 1.16200892e+02] [ 4.60321260e-03 3.03130624e-04 -9.99989359e-01 2.16421424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.921858064 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:131.98, Y:115.80, Z:2.17 [[-2.78819631e-01 -9.60342061e-01 -1.65491048e-03 1.31984012e+02] [-9.60332531e-01 2.78824268e-01 -4.29620649e-03 1.15800305e+02] [ 4.58725700e-03 3.91397660e-04 -9.99989402e-01 2.16905929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.41, Y:116.43, Z:1.15 [[-2.90610170e-01 9.56840676e-01 1.28477641e-03 1.31412646e+02] [-9.56830530e-01 -2.90613006e-01 4.40653918e-03 1.16426502e+02] [ 4.58972866e-03 5.12718059e-05 9.99989466e-01 1.15121138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.981858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.99, Y:115.91, Z:2.16 [[-2.08464224e-01 -9.78029093e-01 -1.32716801e-03 1.31993591e+02] [-9.78019298e-01 2.08468099e-01 -4.39378550e-03 1.15908322e+02] [ 4.57392224e-03 3.82048838e-04 -9.99989467e-01 2.16467035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.011858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.36, Y:116.39, Z:1.15 [[-2.18285032e-01 9.75884587e-01 9.57629437e-04 1.31358944e+02] [-9.75874331e-01 -2.18287128e-01 4.47426185e-03 1.16388722e+02] [ 4.57540136e-03 4.21384032e-05 9.99989532e-01 1.15144064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:116.14, Z:2.17 [[-1.47377521e-01 -9.89079850e-01 -9.57629437e-04 1.32009556e+02] [-9.89069772e-01 1.47380351e-01 -4.47426185e-03 1.16136669e+02] [ 4.56653800e-03 2.87756709e-04 -9.99989532e-01 2.16597258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:116.04, Z:2.16 [[-7.96965130e-02 -9.96818714e-01 -9.57629437e-04 1.31964731e+02] [-9.96808852e-01 7.97000229e-02 -4.47426185e-03 1.16037873e+02] [ 4.53635103e-03 5.97990432e-04 -9.99989532e-01 2.16407979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:115.93, Z:2.17 [[-1.27975080e-02 -9.99917895e-01 -6.53616926e-04 1.31925209e+02] [-9.99907952e-01 1.28003215e-02 -4.49882483e-03 1.15925261e+02] [ 4.50682196e-03 5.95983015e-04 -9.99989667e-01 2.16706855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.90, Y:115.82, Z:2.17 [[ 5.58528490e-02 -9.98438797e-01 -6.53616926e-04 1.31895218e+02] [-9.98429071e-01 -5.58493598e-02 -4.49882483e-03 1.15824133e+02] [ 4.45529717e-03 9.03862324e-04 -9.99989667e-01 2.16564853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:115.75, Z:1.15 [[ 5.69005686e-02 9.98379814e-01 -2.69541331e-04 1.31176259e+02] [-9.98369911e-01 5.69012048e-02 4.44683790e-03 1.15749012e+02] [ 4.45497042e-03 1.60743496e-05 9.99990076e-01 1.15384914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.191858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.89, Y:115.79, Z:2.17 [[ 1.30749608e-01 -9.91415393e-01 2.40604163e-04 1.31889217e+02] [-9.91405473e-01 -1.30749379e-01 -4.44844932e-03 1.15793123e+02] [ 4.44171997e-03 3.43096718e-04 -9.99990077e-01 2.16541816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:115.66, Z:1.15 [[ 1.38674348e-01 9.90337857e-01 -5.95458374e-04 1.31178297e+02] [-9.90328081e-01 1.38675625e-01 4.40043138e-03 1.15663337e+02] [ 4.44048934e-03 -2.05278034e-05 9.99990141e-01 1.15294734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:115.77, Z:2.17 [[ 2.02941208e-01 -9.79190751e-01 5.81865107e-04 1.31881883e+02] [-9.79180909e-01 -2.02941784e-01 -4.40226011e-03 1.15765947e+02] [ 4.42873713e-03 3.23648782e-04 -9.99990141e-01 2.17038897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:115.77, Z:2.17 [[ 2.77963451e-01 -9.60591294e-01 8.28224478e-04 1.31875491e+02] [-9.60581534e-01 -2.77964378e-01 -4.34977129e-03 1.15766607e+02] [ 4.40856934e-03 4.13500302e-04 -9.99990197e-01 2.16956101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:115.76, Z:2.17 [[ 3.53832136e-01 -9.35308213e-01 1.16876392e-03 1.31874417e+02] [-9.35298654e-01 -3.53833829e-01 -4.24845716e-03 1.15764227e+02] [ 4.38716508e-03 4.10097347e-04 -9.99990292e-01 2.16771387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:115.47, Z:1.15 [[ 3.72042609e-01 9.28214285e-01 -1.59318999e-03 1.31213937e+02] [-9.28205302e-01 3.72046018e-01 4.08400073e-03 1.15474755e+02] [ 4.38356781e-03 -4.06148916e-05 9.99990391e-01 1.15161165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:115.45, Z:1.15 [[ 3.72645715e-01 9.27972297e-01 -1.60827473e-03 1.31224253e+02] [-9.27963337e-01 3.72649184e-01 4.07815673e-03 1.15447809e+02] [ 4.38373873e-03 -2.72876456e-05 9.99990391e-01 1.15228251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:131.23, Y:115.42, Z:1.16 [[ 3.71786395e-01 9.28316900e-01 -1.61558453e-03 1.31232637e+02] [-9.28307955e-01 3.71789905e-01 4.07532464e-03 1.15417332e+02] [ 4.38385075e-03 -1.53902853e-05 9.99990391e-01 1.15616062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43185806399998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:131.24, Y:115.39, Z:1.16 [[ 3.71416244e-01 9.28465114e-01 -1.58292899e-03 1.31242021e+02] [-9.28456116e-01 3.71419614e-01 4.08796941e-03 1.15393636e+02] [ 4.38346785e-03 -4.86581444e-05 9.99990391e-01 1.15569050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46185806399998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:131.25, Y:115.37, Z:1.16 [[ 3.74245958e-01 9.27328078e-01 -1.61216235e-03 1.31252954e+02] [-9.27319118e-01 3.74249429e-01 4.07663428e-03 1.15366035e+02] [ 4.38372827e-03 -3.06749380e-05 9.99990391e-01 1.15656697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.27, Y:115.34, Z:1.16 [[ 3.74342603e-01 9.27289116e-01 -1.58443012e-03 1.31265144e+02] [-9.27280110e-01 3.74345951e-01 4.08738438e-03 1.15335486e+02] [ 4.38331205e-03 -6.08715705e-05 9.99990391e-01 1.15686684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52185806399999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:131.28, Y:115.30, Z:1.16 [[ 3.72651969e-01 9.27969829e-01 -1.58327606e-03 1.31276455e+02] [-9.27960827e-01 3.72655328e-01 4.08783136e-03 1.15303228e+02] [ 4.38340043e-03 -5.41202437e-05 9.99990391e-01 1.15533235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.551858064 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:131.95, Y:115.56, Z:2.17 [[ 4.20035112e-01 -9.07506497e-01 1.56913287e-03 1.31949014e+02] [-9.07497314e-01 -4.20037939e-01 -4.09328822e-03 1.15561820e+02] [ 4.37378099e-03 2.95340907e-04 -9.99990391e-01 2.16653336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.581858064 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:131.31, Y:115.21, Z:1.16 [[ 4.42983898e-01 8.96527515e-01 -1.91845034e-03 1.31311190e+02] [-8.96518920e-01 4.42988051e-01 3.92592171e-03 1.15208443e+02] [ 4.36954742e-03 -1.91930778e-05 9.99990453e-01 1.15716150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.611858064 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:131.97, Y:115.52, Z:2.17 [[ 4.87574442e-01 -8.73079456e-01 1.85108023e-03 1.31968875e+02] [-8.73070542e-01 -4.87577855e-01 -3.95790165e-03 1.15524150e+02] [ 4.35810834e-03 3.13648068e-04 -9.99990454e-01 2.16609744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.641858064 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:131.96, Y:115.52, Z:2.17 [[ 5.52521980e-01 -8.33495485e-01 2.17664105e-03 1.31961975e+02] [-8.33487003e-01 -5.52526202e-01 -3.76993342e-03 1.15515914e+02] [ 4.34487369e-03 2.68769057e-04 -9.99990525e-01 2.17019801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.671858064 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:131.97, Y:115.52, Z:2.17 [[ 6.17495939e-01 -7.86570265e-01 2.44629112e-03 1.31968308e+02] [-7.86562148e-01 -6.17500717e-01 -3.58488075e-03 1.15516342e+02] [ 4.33034711e-03 2.89489306e-04 -9.99990582e-01 2.16756623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.701858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:131.98, Y:115.52, Z:2.16 [[ 6.78029826e-01 -7.35029321e-01 2.72977929e-03 1.31978937e+02] [-7.35021711e-01 -6.78035268e-01 -3.35552142e-03 1.15516830e+02] [ 4.31729326e-03 2.68696562e-04 -9.99990644e-01 2.16484709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.731858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.98, Y:115.52, Z:2.16 [[ 7.33902945e-01 -6.79247463e-01 3.05795323e-03 1.31982756e+02] [-6.79240664e-01 -7.33909299e-01 -3.04323601e-03 1.15519583e+02] [ 4.31137066e-03 1.56353688e-04 -9.99990694e-01 2.16419862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.761858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.98, Y:115.51, Z:2.16 [[ 7.84730962e-01 -6.19828273e-01 3.19850238e-03 1.31979097e+02] [-6.19821611e-01 -7.84737429e-01 -2.88755175e-03 1.15509022e+02] [ 4.29977075e-03 2.83450366e-04 -9.99990716e-01 2.16429337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.791858064 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:131.98, Y:115.51, Z:2.16 [[ 8.32148644e-01 -5.54542197e-01 3.40390153e-03 1.31981266e+02] [-5.54536081e-01 -8.32155554e-01 -2.62077686e-03 1.15505273e+02] [ 4.28590692e-03 2.93289697e-04 -9.99990772e-01 2.16474880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:131.98, Y:115.50, Z:2.16 [[ 8.73594818e-01 -4.86640745e-01 3.58888410e-03 1.31983327e+02] [-4.86635222e-01 -8.73602140e-01 -2.33709580e-03 1.15502415e+02] [ 4.27258287e-03 2.95197365e-04 -9.99990829e-01 2.16342432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.851858064 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:131.99, Y:115.50, Z:2.16 [[ 9.09621481e-01 -4.15421129e-01 3.74783637e-03 1.31986309e+02] [-4.15416202e-01 -9.09629151e-01 -2.04591789e-03 1.15504829e+02] [ 4.25905874e-03 3.04098914e-04 -9.99990884e-01 2.16490935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.99, Y:115.51, Z:2.16 [[ 9.39809183e-01 -3.41677702e-01 3.87900576e-03 1.31994754e+02] [-3.41673355e-01 -9.39817133e-01 -1.75354563e-03 1.15510572e+02] [ 4.24470351e-03 3.22645380e-04 -9.99990939e-01 2.16379143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.911858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:131.99, Y:115.50, Z:2.16 [[ 9.63572862e-01 -2.67415716e-01 4.02172429e-03 1.31992754e+02] [-2.67412391e-01 -9.63581228e-01 -1.35290728e-03 1.15498557e+02] [ 4.23704670e-03 2.28165835e-04 -9.99990998e-01 2.16358415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.941858064 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:132.00, Y:115.49, Z:2.16 [[ 9.81701981e-01 -1.90379923e-01 4.08732806e-03 1.31996688e+02] [-1.90376935e-01 -9.81710439e-01 -1.11170751e-03 1.15486248e+02] [ 4.22421942e-03 3.13232478e-04 -9.99991029e-01 2.16250090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.971858064 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:132.00, Y:115.47, Z:2.16 [[ 9.93573247e-01 -1.13114371e-01 4.16442526e-03 1.31996060e+02] [-1.13112422e-01 -9.93581948e-01 -7.01280685e-04 1.15473139e+02] [ 4.21702269e-03 2.25725498e-04 -9.99991083e-01 2.16241765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.001858064 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:132.00, Y:115.46, Z:2.16 [[ 9.99380237e-01 -3.49500240e-02 4.19980517e-03 1.31995276e+02] [-3.49487668e-02 -9.99389036e-01 -3.72370563e-04 1.15459129e+02] [ 4.21025360e-03 2.25361770e-04 -9.99991111e-01 2.16411730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.031858064 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:132.00, Y:115.47, Z:2.17 [[ 9.99045455e-01 4.34795071e-02 4.20848423e-03 1.31996178e+02] [ 4.34801767e-02 -9.99054288e-01 -6.77168540e-05 1.15468513e+02] [ 4.20155992e-03 2.50637853e-04 -9.99991142e-01 2.16632447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.99, Y:115.48, Z:2.17 [[ 9.92929359e-01 1.18632642e-01 4.19329242e-03 1.31994614e+02] [ 1.18632682e-01 -9.92938180e-01 2.39967134e-04 1.15476879e+02] [ 4.19214808e-03 2.59191116e-04 -9.99991179e-01 2.16563954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.091858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:131.99, Y:115.49, Z:2.17 [[ 9.80342251e-01 1.97260706e-01 4.15746103e-03 1.31991476e+02] [ 1.97260259e-01 -9.80351018e-01 5.21323013e-04 1.15487587e+02] [ 4.17860769e-03 3.09026864e-04 -9.99991222e-01 2.16596417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.121858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.00, Y:115.48, Z:2.16 [[ 9.62941808e-01 2.69678118e-01 4.09722126e-03 1.31995577e+02] [ 2.69677092e-01 -9.62950470e-01 8.11264189e-04 1.15478842e+02] [ 4.16420134e-03 3.23726508e-04 -9.99991277e-01 2.16389813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.151858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:132.00, Y:115.47, Z:2.17 [[ 9.39181500e-01 3.43397967e-01 3.99330360e-03 1.31998425e+02] [ 3.43396095e-01 -9.39189949e-01 1.16688984e-03 1.15470042e+02] [ 4.15117820e-03 2.75363510e-04 -9.99991346e-01 2.16529031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.00, Y:115.46, Z:2.16 [[ 9.10001853e-01 4.14586047e-01 3.87773950e-03 1.32002778e+02] [ 4.14583523e-01 -9.10010076e-01 1.47144062e-03 1.15461745e+02] [ 4.13882076e-03 2.68633215e-04 -9.99991399e-01 2.16378756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21185806399998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.01, Y:115.45, Z:2.16 [[ 8.75280384e-01 4.83601353e-01 3.73913779e-03 1.32007674e+02] [ 4.83598204e-01 -8.75288331e-01 1.76505803e-03 1.15454489e+02] [ 4.12640813e-03 2.63319651e-04 -9.99991452e-01 2.16325307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.01, Y:115.45, Z:2.16 [[ 8.35681696e-01 5.49202420e-01 3.57847747e-03 1.32012544e+02] [ 5.49198668e-01 -8.35689319e-01 2.04604854e-03 1.15447407e+02] [ 4.11419021e-03 2.55449742e-04 -9.99991504e-01 2.16292660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.02, Y:115.44, Z:2.16 [[ 7.90437415e-01 6.12533390e-01 3.39686808e-03 1.32017957e+02] [ 6.12529076e-01 -7.90444674e-01 2.31278497e-03 1.15441756e+02] [ 4.10169431e-03 2.52568693e-04 -9.99991556e-01 2.16290497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.03, Y:115.43, Z:2.16 [[ 7.40112982e-01 6.72474953e-01 3.19567500e-03 1.32026025e+02] [ 6.72470113e-01 -7.40119838e-01 2.56358550e-03 1.15433628e+02] [ 4.08912950e-03 2.51653021e-04 -9.99991608e-01 2.16216314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.331858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:132.04, Y:115.43, Z:2.16 [[ 6.84152022e-01 7.29333363e-01 2.97605569e-03 1.32036293e+02] [ 7.29328044e-01 -6.84158447e-01 2.79724410e-03 1.15430004e+02] [ 4.07621708e-03 2.56780672e-04 -9.99991659e-01 2.16116508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.361858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.05, Y:115.42, Z:2.16 [[ 6.25532577e-01 7.80193577e-01 2.64141390e-03 1.32046088e+02] [ 7.80187428e-01 -6.25538142e-01 3.09998848e-03 1.15418721e+02] [ 4.07089624e-03 1.21654133e-04 -9.99991706e-01 2.16320153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.391858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.05, Y:115.41, Z:2.16 [[ 5.61732349e-01 8.27315244e-01 2.50098193e-03 1.32051955e+02] [ 8.27309064e-01 -5.61737853e-01 3.20896341e-03 1.15414427e+02] [ 4.05972056e-03 2.66506469e-04 -9.99991724e-01 2.16218622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:115.41, Z:2.16 [[ 4.95617354e-01 8.68538046e-01 2.25854935e-03 1.32057482e+02] [ 8.68531563e-01 -4.95622414e-01 3.36855429e-03 1.15412804e+02] [ 4.04510524e-03 2.92107430e-04 -9.99991776e-01 2.16137006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:115.39, Z:2.17 [[ 4.36043400e-01 8.99923532e-01 1.94669986e-03 1.32081903e+02] [ 8.99916594e-01 -4.36047695e-01 3.54004326e-03 1.15387497e+02] [ 4.03462223e-03 2.08255006e-04 -9.99991839e-01 2.17180673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:115.39, Z:2.16 [[ 3.52818738e-01 9.35689796e-01 1.88222856e-03 1.32080656e+02] [ 9.35683120e-01 -3.52823402e-01 3.57001090e-03 1.15393850e+02] [ 4.00451706e-03 5.01602747e-04 -9.99991856e-01 2.16158724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:115.39, Z:2.16 [[ 2.75858689e-01 9.61197247e-01 1.35510584e-03 1.32081512e+02] [ 9.61189929e-01 -2.75861889e-01 3.75998749e-03 1.15392814e+02] [ 3.98791168e-03 2.65288871e-04 -9.99992013e-01 2.16328833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:115.39, Z:2.16 [[ 1.99442976e-01 9.79908825e-01 1.09316988e-03 1.32079833e+02] [ 9.79901380e-01 -1.99445736e-01 3.83209908e-03 1.15392885e+02] [ 3.97313577e-03 3.06913430e-04 -9.99992060e-01 2.16231075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:115.39, Z:2.16 [[ 1.18340146e-01 9.92972821e-01 7.66525488e-04 1.32078945e+02] [ 9.92965228e-01 -1.18342248e-01 3.89476178e-03 1.15391737e+02] [ 3.95810494e-03 3.00226478e-04 -9.99992122e-01 2.16266833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:115.39, Z:2.16 [[ 3.91613241e-02 9.99232776e-01 5.00678826e-04 1.32075362e+02] [ 9.99225128e-01 -3.91629910e-02 3.92475122e-03 1.15391783e+02] [ 3.94134814e-03 3.46592409e-04 -9.99992173e-01 2.16277833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:115.39, Z:2.16 [[-4.01072759e-02 9.99195361e-01 1.92830188e-04 1.32074281e+02] [ 9.99187674e-01 4.01062079e-02 3.93510060e-03 1.15391831e+02] [ 3.92420057e-03 3.50499712e-04 -9.99992239e-01 2.16245293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:115.39, Z:2.16 [[-1.19603106e-01 9.92821772e-01 -1.63566744e-04 1.32105061e+02] [ 9.92814088e-01 1.19602826e-01 3.91796742e-03 1.15385583e+02] [ 3.90940640e-03 3.06209705e-04 -9.99992311e-01 2.16270974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:115.38, Z:2.16 [[-1.98145999e-01 9.80172398e-01 -4.82439395e-04 1.32136000e+02] [ 9.80164774e-01 1.98146366e-01 3.87733198e-03 1.15377449e+02] [ 3.89604740e-03 2.95407717e-04 -9.99992367e-01 2.16279868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:115.39, Z:2.16 [[-2.75104827e-01 9.61413918e-01 -7.82122157e-04 1.32161096e+02] [ 9.61406395e-01 2.75105778e-01 3.81496948e-03 1.15393081e+02] [ 3.88293108e-03 2.97579276e-04 -9.99992417e-01 2.16396723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:115.07, Z:2.17 [[-3.48193037e-01 9.37422261e-01 -1.05558203e-03 1.32306757e+02] [ 9.37414869e-01 3.48194498e-01 3.73558616e-03 1.15067212e+02] [ 3.86936948e-03 3.11186799e-04 -9.99992466e-01 2.16799362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:115.07, Z:2.17 [[-4.05916320e-01 9.13909269e-01 -1.33772141e-03 1.32357637e+02] [ 9.13902097e-01 4.05918447e-01 3.62922885e-03 1.15065149e+02] [ 3.85979168e-03 2.50616817e-04 -9.99992520e-01 2.17097396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.24, Y:115.34, Z:2.16 [[-4.99569658e-01 8.66272427e-01 -1.49604199e-03 1.32235013e+02] [ 8.66265266e-01 4.99571668e-01 3.55503313e-03 1.15343124e+02] [ 3.82700736e-03 4.80017475e-04 -9.99992562e-01 2.16406231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:115.04, Z:2.16 [[-5.66686853e-01 8.23931113e-01 -1.87906155e-03 1.32462657e+02] [ 8.23924436e-01 5.66689866e-01 3.33468382e-03 1.15041556e+02] [ 3.81239489e-03 3.41516754e-04 -9.99992674e-01 2.16201625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:115.07, Z:2.17 [[-6.23858921e-01 7.81534067e-01 -2.13261792e-03 1.32493950e+02] [ 7.81527734e-01 6.23862491e-01 3.16118481e-03 1.15070796e+02] [ 3.80103395e-03 3.05433296e-04 -9.99992729e-01 2.16816356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.55, Y:115.05, Z:2.16 [[-6.91863059e-01 7.22025078e-01 -2.30093776e-03 1.32547283e+02] [ 7.22018865e-01 6.91866750e-01 3.02622979e-03 1.15052372e+02] [ 3.77695613e-03 4.32416126e-04 -9.99992774e-01 2.16442555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.60, Y:115.05, Z:2.16 [[-7.46348525e-01 6.65550298e-01 -2.58456454e-03 1.32596227e+02] [ 6.65544669e-01 7.46352924e-01 2.75813764e-03 1.15054848e+02] [ 3.76467663e-03 3.38388817e-04 -9.99992856e-01 2.16126959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.63, Y:115.06, Z:2.16 [[-8.01736465e-01 5.97671253e-01 -2.77750130e-03 1.32632464e+02] [ 5.97665956e-01 8.01741186e-01 2.54490375e-03 1.15064956e+02] [ 3.74785300e-03 3.80324166e-04 -9.99992904e-01 2.16337336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.67, Y:115.09, Z:2.16 [[-8.43277180e-01 5.37470538e-01 -3.00305671e-03 1.32669950e+02] [ 5.37465898e-01 8.43282480e-01 2.25138986e-03 1.15087114e+02] [ 3.74248083e-03 2.84505128e-04 -9.99992956e-01 2.16086411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.68, Y:115.12, Z:2.16 [[-8.83203215e-01 4.68979969e-01 -3.14167256e-03 1.32681212e+02] [ 4.68975652e-01 8.83208742e-01 2.03875865e-03 1.15120582e+02] [ 3.73088964e-03 3.27270260e-04 -9.99992987e-01 2.16087121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:115.12, Z:2.16 [[-9.17712849e-01 3.97230943e-01 -3.27194115e-03 1.32755763e+02] [ 3.97227020e-01 9.17718614e-01 1.80027560e-03 1.15123386e+02] [ 3.71784647e-03 3.52432618e-04 -9.99993027e-01 2.16110109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.78, Y:115.15, Z:2.16 [[-9.46189912e-01 3.23594055e-01 -3.39663167e-03 1.32783194e+02] [ 3.23590656e-01 9.46195948e-01 1.52200668e-03 1.15150001e+02] [ 3.70639144e-03 3.40989097e-04 -9.99993073e-01 2.16080705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.81, Y:115.17, Z:2.16 [[-9.70157133e-01 2.42451967e-01 -3.49008936e-03 1.32806195e+02] [ 2.42448983e-01 9.70163338e-01 1.26046559e-03 1.15174640e+02] [ 3.69155911e-03 3.76681072e-04 -9.99993115e-01 2.16187491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:115.21, Z:2.16 [[-9.84973128e-01 1.72670181e-01 -3.59800917e-03 1.32818892e+02] [ 1.72668194e-01 9.84979674e-01 8.58204911e-04 1.15206768e+02] [ 3.69215230e-03 2.24047031e-04 -9.99993159e-01 2.16080591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:115.23, Z:2.16 [[-9.95906375e-01 9.03181139e-02 -3.62353259e-03 1.32854814e+02] [ 9.03160714e-02 9.95912890e-01 7.23722832e-04 1.15231162e+02] [ 3.67408810e-03 3.93496954e-04 -9.99993173e-01 2.15954184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.83, Y:115.27, Z:2.16 [[-9.99828468e-01 1.81557131e-02 -3.66130498e-03 1.32828227e+02] [ 1.81544697e-02 9.99835125e-01 3.72565088e-04 1.15269262e+02] [ 3.66746551e-03 3.06032131e-04 -9.99993228e-01 2.16051931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:115.29, Z:2.16 [[-9.97506017e-01 -7.04860847e-02 -3.66853382e-03 1.32940629e+02] [-7.04870413e-02 9.97512686e-01 1.31958123e-04 1.15293717e+02] [ 3.65010782e-03 3.90213117e-04 -9.99993262e-01 2.16076714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.261858064 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:132.75, Y:115.95, Z:1.17 [[-9.99621624e-01 2.72629849e-02 3.65224963e-03 1.32748172e+02] [-2.72624204e-02 -9.99628290e-01 2.04257251e-04 1.15949828e+02] [ 3.65646071e-03 1.04610801e-04 9.99993310e-01 1.16662724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.291858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:132.91, Y:115.33, Z:2.16 [[-9.90107594e-01 -1.40262589e-01 -3.65502444e-03 1.32912938e+02] [-1.40263007e-01 9.90114270e-01 -1.42787167e-04 1.15325557e+02] [ 3.63891955e-03 3.71290061e-04 -9.99993310e-01 2.16479400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:132.81, Y:115.99, Z:1.17 [[-9.94059308e-01 1.08779730e-01 3.61431683e-03 1.32812870e+02] [-1.08778724e-01 -9.94065875e-01 4.74496029e-04 1.15992464e+02] [ 3.64448457e-03 7.85164230e-05 9.99993356e-01 1.16520878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.351858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:132.91, Y:115.35, Z:2.16 [[-9.77505381e-01 -2.10879387e-01 -3.62142704e-03 1.32914032e+02] [-2.10879281e-01 9.77512024e-01 -4.15235923e-04 1.15352767e+02] [ 3.62755317e-03 3.57788581e-04 -9.99993356e-01 2.16265866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381858064 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:132.71, Y:116.01, Z:1.17 [[-9.82473556e-01 1.86368241e-01 3.54825798e-03 1.32711101e+02] [-1.86366637e-01 -9.82479958e-01 7.80172492e-04 1.16014339e+02] [ 3.63149173e-03 1.05221935e-04 9.99993401e-01 1.16507749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.411858064 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:132.85, Y:115.37, Z:2.17 [[-9.60077603e-01 -2.79711042e-01 -3.56793734e-03 1.32852071e+02] [-2.79710427e-01 9.60084170e-01 -6.80153567e-04 1.15368330e+02] [ 3.61576663e-03 3.44989073e-04 -9.99993404e-01 2.16756799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441858064 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:132.62, Y:116.02, Z:1.17 [[-9.59810826e-01 2.80626335e-01 3.46974888e-03 1.32624689e+02] [-2.80624446e-01 -9.59817097e-01 1.02958123e-03 1.16024682e+02] [ 3.61925190e-03 1.45068535e-05 9.99993450e-01 1.16540237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.471858064 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:132.58, Y:116.03, Z:1.16 [[-9.62494240e-01 2.71279746e-01 3.48388500e-03 1.32584751e+02] [-2.71277979e-01 -9.62500545e-01 9.79151475e-04 1.16025084e+02] [ 3.61886517e-03 -2.67362690e-06 9.99993452e-01 1.16317608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501858064 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:132.77, Y:115.37, Z:2.17 [[-9.43943623e-01 -3.30088235e-01 -3.49188894e-03 1.32769742e+02] [-3.30086966e-01 9.43950047e-01 -9.50361199e-04 1.15374490e+02] [ 3.60987178e-03 2.55539632e-04 -9.99993452e-01 2.16572145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.531858064 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:132.49, Y:116.03, Z:1.17 [[-9.33854670e-01 3.57636696e-01 3.38366194e-03 1.32493630e+02] [-3.57634528e-01 -9.33860799e-01 1.24595612e-03 1.16029411e+02] [ 3.60546887e-03 -4.65724012e-05 9.99993499e-01 1.16755809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561858064 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:132.72, Y:115.38, Z:2.16 [[-9.15594315e-01 -4.02088973e-01 -3.39224807e-03 1.32720293e+02] [-4.02087189e-01 9.15600567e-01 -1.22238157e-03 1.15375129e+02] [ 3.59745040e-03 2.44773876e-04 -9.99993499e-01 2.16350303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.591858064 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:132.65, Y:116.14, Z:1.17 [[-9.00721573e-01 4.34384651e-01 3.25919127e-03 1.32648007e+02] [-4.34382018e-01 -9.00727468e-01 1.51334433e-03 1.16137373e+02] [ 3.59301665e-03 -5.26321978e-05 9.99993544e-01 1.16556950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621858064 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:132.71, Y:115.39, Z:2.17 [[-8.84858301e-01 -4.65848795e-01 -3.26915744e-03 1.32711712e+02] [-4.65846452e-01 8.84864316e-01 -1.49149990e-03 1.15392445e+02] [ 3.58757420e-03 2.03159330e-04 -9.99993544e-01 2.16595596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.651858064 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:132.29, Y:116.00, Z:1.17 [[-8.63943474e-01 5.03579051e-01 3.13253145e-03 1.32291729e+02] [-5.03576058e-01 -8.63949150e-01 1.73783123e-03 1.15998017e+02] [ 3.58148328e-03 -7.60798912e-05 9.99993584e-01 1.16587348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68185806399998 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:132.59, Y:115.35, Z:2.17 [[-8.50738680e-01 -5.25579564e-01 -3.13389890e-03 1.32592941e+02] [-5.25576726e-01 8.50744435e-01 -1.73536295e-03 1.15351350e+02] [ 3.57821835e-03 1.70763935e-04 -9.99993584e-01 2.16724162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71185806399998 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:132.16, Y:115.95, Z:1.17 [[-8.28372999e-01 5.60168891e-01 2.99817660e-03 1.32159967e+02] [-5.60165519e-01 -8.28378422e-01 1.94471794e-03 1.15947169e+02] [ 3.57299529e-03 -6.85233195e-05 9.99993614e-01 1.16698960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74185806399998 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:132.18, Y:115.96, Z:1.17 [[-8.30385680e-01 5.57180963e-01 2.99953673e-03 1.32178597e+02] [-5.57177579e-01 -8.30391096e-01 1.94261781e-03 1.15958599e+02] [ 3.57317825e-03 -5.81526049e-05 9.99993614e-01 1.16634658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77185806399999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:132.17, Y:115.95, Z:1.17 [[-8.32896269e-01 5.53420999e-01 3.00031258e-03 1.32168522e+02] [-5.53417596e-01 -8.32901672e-01 1.94141846e-03 1.15953394e+02] [ 3.57338711e-03 -4.34255770e-05 9.99993615e-01 1.16546730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.801858064 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:132.76, Y:115.50, Z:2.17 [[-8.06498377e-01 -5.91228692e-01 -3.00031258e-03 1.32764249e+02] [-5.91225541e-01 8.06503931e-01 -1.94141846e-03 1.15504824e+02] [ 3.56758619e-03 2.08110587e-04 -9.99993615e-01 2.16558468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.831858064 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:132.51, Y:115.34, Z:2.17 [[-7.55617810e-01 -6.55006533e-01 -2.85770355e-03 1.32514528e+02] [-6.55003113e-01 7.55623169e-01 -2.13252294e-03 1.15344329e+02] [ 3.55616347e-03 2.60432409e-04 -9.99993643e-01 2.16788023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.861858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:131.93, Y:115.81, Z:1.17 [[-7.50147840e-01 6.61264753e-01 2.67280361e-03 1.31929854e+02] [-6.61260600e-01 -7.50152602e-01 2.34365431e-03 1.15814867e+02] [ 3.55478657e-03 -9.33249926e-06 9.99993682e-01 1.16523599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.891858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:132.64, Y:115.50, Z:2.17 [[-7.07884400e-01 -7.06323249e-01 -2.67280361e-03 1.32638487e+02] [-7.06319398e-01 7.07889409e-01 -2.34365431e-03 1.15501414e+02] [ 3.54742689e-03 2.28816710e-04 -9.99993682e-01 2.16740390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.921858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:132.11, Y:116.03, Z:1.17 [[-7.05076211e-01 7.09127113e-01 2.50473528e-03 1.32111690e+02] [-7.09122667e-01 -7.05080660e-01 2.51128448e-03 1.16028644e+02] [ 3.54686031e-03 -5.51761437e-06 9.99993710e-01 1.16563868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.951858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:132.11, Y:116.03, Z:1.17 [[-7.04786395e-01 7.09415153e-01 2.50568863e-03 1.32110972e+02] [-7.09410711e-01 -7.04790849e-01 2.51033289e-03 1.16028118e+02] [ 3.54685460e-03 -8.31388755e-06 9.99993710e-01 1.16694503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.981858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:132.11, Y:116.02, Z:1.17 [[-7.04659223e-01 7.09541469e-01 2.50664181e-03 1.32106083e+02] [-7.09537032e-01 -7.04663681e-01 2.50938075e-03 1.16023908e+02] [ 3.54684915e-03 -1.02968951e-05 9.99993710e-01 1.16736823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.011858064 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:132.10, Y:116.01, Z:1.17 [[-7.05659390e-01 7.08546778e-01 2.50771355e-03 1.32095718e+02] [-7.08542338e-01 -7.05663846e-01 2.50830926e-03 1.16013921e+02] [ 3.54685723e-03 -6.80923219e-06 9.99993710e-01 1.16788026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.041858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:132.55, Y:115.45, Z:2.17 [[-6.61271727e-01 -7.50142255e-01 -2.51000726e-03 1.32545986e+02] [-7.50138103e-01 6.61276452e-01 -2.50601221e-03 1.15452144e+02] [ 3.53967435e-03 2.25697067e-04 -9.99993710e-01 2.16671373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.071858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.97, Y:115.93, Z:1.17 [[-6.55237705e-01 7.55419178e-01 2.32704643e-03 1.31974136e+02] [-7.55414475e-01 -6.55241837e-01 2.66572795e-03 1.15930132e+02] [ 3.53852020e-03 -1.11990985e-05 9.99993739e-01 1.16665425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:132.45, Y:115.39, Z:2.17 [[-6.10330505e-01 -7.92143459e-01 -2.32704643e-03 1.32454600e+02] [-7.92139003e-01 6.10334903e-01 -2.66572795e-03 1.15394182e+02] [ 3.53191662e-03 2.16369156e-04 -9.99993739e-01 2.16934312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.131858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:131.61, Y:115.52, Z:1.17 [[-5.99824588e-01 8.00128675e-01 2.13728639e-03 1.31614525e+02] [-8.00123741e-01 -5.99828395e-01 2.81005668e-03 1.15518794e+02] [ 3.53041199e-03 -2.45524884e-05 9.99993768e-01 1.16523418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:131.64, Y:115.56, Z:1.16 [[-5.99336151e-01 8.00494615e-01 2.13282446e-03 1.31643942e+02] [-8.00489671e-01 -5.99339946e-01 2.81345070e-03 1.15557511e+02] [ 3.53043903e-03 -2.11012355e-05 9.99993768e-01 1.16350130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.191858064 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:131.85, Y:115.83, Z:1.16 [[-6.02327968e-01 7.98245893e-01 2.12430936e-03 1.31849074e+02] [-7.98240913e-01 -6.02331714e-01 2.81992455e-03 1.15826879e+02] [ 3.53053209e-03 2.80878155e-06 9.99993768e-01 1.16268984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:132.35, Y:115.31, Z:2.17 [[-5.55996355e-01 -8.31182014e-01 -2.12430936e-03 1.32354473e+02] [-8.31177254e-01 5.56000378e-01 -2.81992455e-03 1.15309645e+02] [ 3.52498738e-03 1.97809850e-04 -9.99993768e-01 2.17136854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.251858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:131.73, Y:115.71, Z:1.16 [[-5.48195204e-01 8.36348180e-01 1.93374835e-03 1.31726221e+02] [-8.36342992e-01 -5.48198615e-01 2.94599810e-03 1.15710003e+02] [ 3.52395832e-03 -2.29485288e-06 9.99993791e-01 1.16364328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281858064 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:132.16, Y:115.04, Z:2.18 [[-4.89437251e-01 -8.72036318e-01 -1.95904830e-03 1.32158752e+02] [-8.72031441e-01 4.89441095e-01 -2.92921307e-03 1.15043905e+02] [ 3.51321893e-03 2.74685720e-04 -9.99993791e-01 2.17664103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.311858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:131.68, Y:115.72, Z:1.16 [[-4.81378095e-01 8.76511415e-01 1.69383887e-03 1.31680616e+02] [-8.76506016e-01 -4.81381075e-01 3.07635995e-03 1.15718597e+02] [ 3.51184659e-03 -3.76766769e-06 9.99993833e-01 1.16445866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:115.28, Z:2.18 [[-4.33848510e-01 -9.00984240e-01 -1.69383887e-03 1.32257547e+02] [-9.00979008e-01 4.33851775e-01 -3.07635995e-03 1.15279919e+02] [ 3.50662683e-03 1.91439084e-04 -9.99993833e-01 2.17563004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:115.59, Z:1.16 [[-4.21179117e-01 9.06976272e-01 1.48118751e-03 1.31577047e+02] [-9.06970707e-01 -4.21181721e-01 3.17702472e-03 1.15591545e+02] [ 3.50533514e-03 -5.29721346e-06 9.99993856e-01 1.16487747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:115.19, Z:2.17 [[-3.77429403e-01 -9.26037176e-01 -1.48118751e-03 1.32184377e+02] [-9.26031743e-01 3.77432270e-01 -3.17702472e-03 1.15192377e+02] [ 3.50109097e-03 1.72524104e-04 -9.99993856e-01 2.17421995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:115.46, Z:1.17 [[-3.55456605e-01 9.34691926e-01 1.26726041e-03 1.31482455e+02] [-9.34686236e-01 -3.55458863e-01 3.26138031e-03 1.15458848e+02] [ 3.49884479e-03 -2.52116936e-05 9.99993879e-01 1.16703578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:115.10, Z:2.17 [[-3.22426827e-01 -9.46593543e-01 -1.26726041e-03 1.32114519e+02] [-9.46587936e-01 3.22429283e-01 -3.26138031e-03 1.15102453e+02] [ 3.49580341e-03 1.48016914e-04 -9.99993879e-01 2.16981231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:115.31, Z:1.17 [[-2.88452668e-01 9.57493586e-01 1.04455580e-03 1.31394560e+02] [-9.57487788e-01 -2.88454557e-01 3.33248244e-03 1.15311813e+02] [ 3.49213744e-03 -3.88859669e-05 9.99993902e-01 1.16686859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.05, Y:115.00, Z:2.17 [[-2.57959457e-01 -9.66155178e-01 -1.04455580e-03 1.32054630e+02] [-9.66149442e-01 2.57961529e-01 -3.33248244e-03 1.15003679e+02] [ 3.48915038e-03 1.49551639e-04 -9.99993902e-01 2.17234669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.551858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.32, Y:115.17, Z:1.17 [[-2.23037020e-01 9.74809652e-01 7.94248268e-04 1.31321331e+02] [-9.74803741e-01 -2.23038433e-01 3.39453327e-03 1.15169916e+02] [ 3.48617169e-03 -1.71295976e-05 9.99993923e-01 1.16746873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:114.89, Z:2.17 [[-1.93799033e-01 -9.81040929e-01 -7.94248268e-04 1.31996370e+02] [-9.81035063e-01 1.93800623e-01 -3.39453327e-03 1.14887889e+02] [ 3.48410188e-03 1.21328132e-04 -9.99993923e-01 2.17219324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.25, Y:115.01, Z:1.17 [[-1.59190831e-01 9.87247665e-01 5.72865684e-04 1.31254377e+02] [-9.87241692e-01 -1.59191861e-01 3.43414880e-03 1.15013648e+02] [ 3.48155094e-03 -1.88718849e-05 9.99993939e-01 1.16907388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:114.75, Z:2.17 [[-1.40061878e-01 -9.90142587e-01 -5.72865684e-04 1.31933444e+02] [-9.90136635e-01 1.40063023e-01 -3.43414880e-03 1.14747941e+02] [ 3.48053428e-03 8.62219699e-05 -9.99993939e-01 2.17193484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:114.86, Z:1.17 [[-7.99728667e-02 9.96796968e-01 3.82087738e-04 1.31205297e+02] [-9.96790985e-01 -7.99737112e-02 3.45525291e-03 1.14855141e+02] [ 3.47474260e-03 -1.04535132e-04 9.99993958e-01 1.16854415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.89, Y:114.59, Z:2.17 [[-7.33611984e-02 -9.97305247e-01 -6.15047313e-04 1.31887068e+02] [-9.97299417e-01 7.33628845e-02 -3.42935962e-03 1.14586089e+02] [ 3.46523999e-03 3.61804395e-04 -9.99993931e-01 2.17377719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:114.59, Z:1.17 [[-1.34572122e-02 9.99909438e-01 1.35760164e-04 1.31155384e+02] [-9.99903490e-01 -1.34576006e-02 3.45024844e-03 1.14589450e+02] [ 3.45176298e-03 -8.93163367e-05 9.99994039e-01 1.17113446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:114.56, Z:2.17 [[ 1.87794384e-03 -9.99998227e-01 -1.35760164e-04 1.31857637e+02] [-9.99992285e-01 -1.87746427e-03 -3.45024844e-03 1.14560598e+02] [ 3.44998744e-03 1.42238490e-04 -9.99994039e-01 2.17120102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.12, Y:114.49, Z:1.17 [[ 5.20126270e-02 9.98646416e-01 -1.50622424e-04 1.31116579e+02] [-9.98640483e-01 5.20128372e-02 3.44245137e-03 1.14493958e+02] [ 3.44562602e-03 -2.86332887e-05 9.99994063e-01 1.17305877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:114.51, Z:2.17 [[ 7.94180116e-02 -9.96841400e-01 4.97360700e-05 1.31841280e+02] [-9.96835474e-01 -7.94177113e-02 -3.44468666e-03 1.14513029e+02] [ 3.43775620e-03 2.23991486e-04 -9.99994066e-01 2.17227263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:114.40, Z:1.17 [[ 1.32674495e-01 9.91159580e-01 -4.06326834e-04 1.31117035e+02] [-9.91153726e-01 1.32675108e-01 3.40702553e-03 1.14398565e+02] [ 3.43081545e-03 -4.92930364e-05 9.99994114e-01 1.17164195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.84, Y:114.48, Z:2.17 [[ 1.55852912e-01 -9.87780210e-01 3.56004484e-04 1.31842257e+02] [-9.87774332e-01 -1.55853215e-01 -3.41230867e-03 1.14478515e+02] [ 3.42609541e-03 1.80166152e-04 -9.99994115e-01 2.17262105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.84, Y:114.47, Z:2.17 [[ 2.38353136e-01 -9.71178354e-01 6.22901463e-04 1.31836849e+02] [-9.71172551e-01 -2.38353869e-01 -3.36287173e-03 1.14468350e+02] [ 3.41441920e-03 1.96606220e-04 -9.99994152e-01 2.16887210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.14, Y:114.23, Z:1.18 [[ 2.71169933e-01 9.62531030e-01 -9.40103825e-04 1.31136483e+02] [-9.62525447e-01 2.71171562e-01 3.27842516e-03 1.14229539e+02] [ 3.41051537e-03 1.58635217e-05 9.99994184e-01 1.17592965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:114.41, Z:2.17 [[ 3.14563263e-01 -9.49236149e-01 8.29342985e-04 1.31835150e+02] [-9.49230421e-01 -3.14564254e-01 -3.30717177e-03 1.14408034e+02] [ 3.40016865e-03 2.53077153e-04 -9.99994187e-01 2.17034748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:114.12, Z:1.18 [[ 3.40361997e-01 9.40293764e-01 -1.16157546e-03 1.31160285e+02] [-9.40288348e-01 3.40363979e-01 3.19141586e-03 1.14122501e+02] [ 3.39622687e-03 5.97919436e-06 9.99994233e-01 1.17519241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.031858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.84, Y:114.35, Z:2.17 [[ 3.91068635e-01 -9.20360887e-01 1.07698347e-03 1.31838316e+02] [-9.20355292e-01 -3.91070026e-01 -3.22045096e-03 1.14350682e+02] [ 3.38515306e-03 2.68209928e-04 -9.99994234e-01 2.17120979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:114.02, Z:1.17 [[ 4.04714660e-01 9.14441953e-01 -1.39958297e-03 1.31190632e+02] [-9.14436767e-01 4.04717078e-01 3.07982328e-03 1.14017037e+02] [ 3.38275474e-03 3.33805009e-05 9.99994278e-01 1.17423800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.091858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.84, Y:114.30, Z:2.18 [[ 4.59542247e-01 -8.88154943e-01 1.31145875e-03 1.31840720e+02] [-8.88149512e-01 -4.59544040e-01 -3.11761230e-03 1.14297518e+02] [ 3.37159583e-03 2.67903112e-04 -9.99994280e-01 2.17593063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:114.29, Z:2.17 [[ 5.31247557e-01 -8.47215172e-01 1.57668042e-03 1.31836744e+02] [-8.47209976e-01 -5.31249840e-01 -2.97715284e-03 1.14286545e+02] [ 3.35990027e-03 2.45825794e-04 -9.99994325e-01 2.17423590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.151858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.83, Y:114.28, Z:2.17 [[ 5.97248356e-01 -8.02054103e-01 1.90164935e-03 1.31827615e+02] [-8.02049331e-01 -5.97251370e-01 -2.76979076e-03 1.14275786e+02] [ 3.35728472e-03 1.29036391e-04 -9.99994356e-01 2.17497104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18185806399998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.82, Y:114.26, Z:2.18 [[ 6.57816485e-01 -7.53175385e-01 2.07631458e-03 1.31820906e+02] [-7.53170784e-01 -6.57819740e-01 -2.63823328e-03 1.14262815e+02] [ 3.35289308e-03 1.71653862e-04 -9.99994364e-01 2.17512074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:114.25, Z:2.18 [[ 7.13009875e-01 -7.01150273e-01 2.28305638e-03 1.31809776e+02] [-7.01145989e-01 -7.13013515e-01 -2.45552579e-03 1.14249855e+02] [ 3.34954263e-03 1.50058317e-04 -9.99994379e-01 2.17714198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:114.24, Z:2.18 [[ 7.64879537e-01 -6.44168868e-01 2.40083361e-03 1.31807811e+02] [-6.44164682e-01 -7.64883268e-01 -2.33439669e-03 1.14241081e+02] [ 3.34010313e-03 2.39000043e-04 -9.99994393e-01 2.17708335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:114.23, Z:2.18 [[ 8.12467118e-01 -5.83001362e-01 2.56802886e-03 1.31806530e+02] [-5.82997507e-01 -8.12471142e-01 -2.13311248e-03 1.14233527e+02] [ 3.33005682e-03 2.35929322e-04 -9.99994428e-01 2.17682948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:114.23, Z:2.17 [[ 8.56273278e-01 -5.16515908e-01 2.71851453e-03 1.31810718e+02] [-5.16512395e-01 -8.56277560e-01 -1.92004619e-03 1.14230522e+02] [ 3.31953739e-03 2.39937796e-04 -9.99994462e-01 2.17300150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.331858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.81, Y:114.21, Z:2.17 [[ 8.92774390e-01 -4.50494869e-01 2.87426653e-03 1.31809157e+02] [-4.50491856e-01 -8.92778998e-01 -1.65807731e-03 1.14214194e+02] [ 3.31304011e-03 1.85455291e-04 -9.99994495e-01 2.17411947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:114.20, Z:2.18 [[ 9.23852967e-01 -3.82735714e-01 3.01134702e-03 1.31801401e+02] [-3.82733249e-01 -9.23857867e-01 -1.37927556e-03 1.14195728e+02] [ 3.30995466e-03 1.21705189e-04 -9.99994515e-01 2.17672036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:114.19, Z:2.18 [[ 9.50666446e-01 -3.10199740e-01 3.07072160e-03 1.31803640e+02] [-3.10197373e-01 -9.50671381e-01 -1.23118891e-03 1.14190119e+02] [ 3.30116162e-03 2.17920208e-04 -9.99994527e-01 2.17707959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:114.19, Z:2.18 [[ 9.71543318e-01 -2.36841028e-01 3.14789347e-03 1.31805361e+02] [-2.36839076e-01 -9.71548395e-01 -9.84414295e-04 1.14185882e+02] [ 3.29148054e-03 2.10856949e-04 -9.99994561e-01 2.17831387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:114.19, Z:2.18 [[ 9.87588648e-01 -1.57029896e-01 3.20538375e-03 1.31809158e+02] [-1.57028341e-01 -9.87593825e-01 -7.33017919e-04 1.14189544e+02] [ 3.28072292e-03 2.20584085e-04 -9.99994594e-01 2.17551136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:114.19, Z:2.18 [[ 9.96708202e-01 -8.10072934e-02 3.25248521e-03 1.31813440e+02] [-8.10063817e-02 -9.96713498e-01 -4.11293325e-04 1.14190879e+02] [ 3.27511367e-03 1.46467372e-04 -9.99994626e-01 2.17757260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.511858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.81, Y:114.19, Z:2.18 [[ 9.99986026e-01 -4.15040233e-03 3.27441425e-03 1.31813894e+02] [-4.15018024e-03 -9.99991385e-01 -7.46177083e-05 1.14193315e+02] [ 3.27469574e-03 6.10272562e-05 -9.99994636e-01 2.17549881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.541858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.81, Y:114.18, Z:2.18 [[ 9.97455043e-01 7.12231173e-02 3.27193357e-03 1.31811138e+02] [ 7.12230799e-02 -9.97460404e-01 1.28079935e-04 1.14182152e+02] [ 3.27274644e-03 1.05283209e-04 -9.99994639e-01 2.17753374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.571858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.81, Y:114.18, Z:2.18 [[ 9.88820435e-01 1.49075590e-01 3.25817855e-03 1.31811968e+02] [ 1.49075457e-01 -9.88825782e-01 2.85213135e-04 1.14177224e+02] [ 3.26428927e-03 2.03689880e-04 -9.99994651e-01 2.17759220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.82, Y:114.17, Z:2.17 [[ 9.73397973e-01 2.29098328e-01 3.21596323e-03 1.31817451e+02] [ 2.29097796e-01 -9.73403262e-01 5.37701379e-04 1.14170944e+02] [ 3.25361558e-03 2.13372656e-04 -9.99994684e-01 2.17441438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:114.15, Z:2.18 [[ 9.53230683e-01 3.02227574e-01 3.12384132e-03 1.31819410e+02] [ 3.02226235e-01 -9.53235798e-01 9.03490806e-04 1.14150961e+02] [ 3.25081721e-03 8.28716423e-05 -9.99994713e-01 2.17764363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.82, Y:114.15, Z:2.18 [[ 9.26222838e-01 3.76963864e-01 3.08198744e-03 1.31819816e+02] [ 3.76962518e-01 -9.26227942e-01 1.02886510e-03 1.14145811e+02] [ 3.24246785e-03 2.08835389e-04 -9.99994721e-01 2.17748895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:114.14, Z:2.18 [[ 8.93574656e-01 4.48904709e-01 2.98282123e-03 1.31824205e+02] [ 4.48902981e-01 -8.93579609e-01 1.26305546e-03 1.14137041e+02] [ 3.23237977e-03 2.10362989e-04 -9.99994754e-01 2.17773075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.82, Y:114.15, Z:2.18 [[ 8.53552911e-01 5.20998286e-01 2.86597054e-03 1.31822462e+02] [ 5.20996209e-01 -8.53557693e-01 1.48810128e-03 1.14150607e+02] [ 3.22156942e-03 2.22986602e-04 -9.99994786e-01 2.17574037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:114.15, Z:2.18 [[ 8.10829082e-01 5.85277123e-01 2.62457444e-03 1.31818421e+02] [ 5.85274130e-01 -8.10833330e-01 1.87182430e-03 1.14149003e+02] [ 3.22362837e-03 1.83659469e-05 -9.99994804e-01 2.17884590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.82, Y:114.14, Z:2.18 [[ 7.61661179e-01 6.47970311e-01 2.59340652e-03 1.31823695e+02] [ 6.47967522e-01 -7.61665561e-01 1.91405460e-03 1.14142324e+02] [ 3.21555899e-03 2.22582112e-04 -9.99994805e-01 2.17951763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.811858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:131.83, Y:114.14, Z:2.18 [[ 7.07804952e-01 7.06403739e-01 2.43059289e-03 1.31827482e+02] [ 7.06400649e-01 -7.07809088e-01 2.10192874e-03 1.14138021e+02] [ 3.20520606e-03 2.29216824e-04 -9.99994837e-01 2.17939064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:114.13, Z:2.18 [[ 6.49586560e-01 7.60284318e-01 2.24874434e-03 1.31830701e+02] [ 7.60280930e-01 -6.49590412e-01 2.28119091e-03 1.14134817e+02] [ 3.19511644e-03 2.27846482e-04 -9.99994870e-01 2.18014096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:114.13, Z:2.18 [[ 5.83710799e-01 8.11959034e-01 2.05682441e-03 1.31833768e+02] [ 8.11955396e-01 -5.83714371e-01 2.44278743e-03 1.14134192e+02] [ 3.18404128e-03 2.44168276e-04 -9.99994901e-01 2.17664236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.85, Y:114.13, Z:2.18 [[ 5.17615702e-01 8.55611335e-01 1.79685163e-03 1.31846983e+02] [ 8.55607315e-01 -5.17618791e-01 2.62860921e-03 1.14127003e+02] [ 3.17915200e-03 1.76790001e-04 -9.99994931e-01 2.17776847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93185806399998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:131.86, Y:114.12, Z:2.18 [[ 4.47826859e-01 8.94118894e-01 1.58351289e-03 1.31858756e+02] [ 8.94114662e-01 -4.47829622e-01 2.75707693e-03 1.14120873e+02] [ 3.17429855e-03 1.81148989e-04 -9.99994946e-01 2.17700111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:114.12, Z:2.18 [[ 3.73650514e-01 9.27568576e-01 1.35288448e-03 1.31871000e+02] [ 9.27564146e-01 -3.73652919e-01 2.87240139e-03 1.14116946e+02] [ 3.16985850e-03 1.81612879e-04 -9.99994960e-01 2.17688742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:114.11, Z:2.18 [[ 2.99799257e-01 9.54001663e-01 1.11001988e-03 1.31884858e+02] [ 9.53997052e-01 -2.99801265e-01 2.97086377e-03 1.14112810e+02] [ 3.16699434e-03 1.68292944e-04 -9.99994971e-01 2.17728177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:114.10, Z:2.18 [[ 2.26639799e-01 9.73978242e-01 8.86251484e-04 1.31901123e+02] [ 9.73973508e-01 -2.26641465e-01 3.04182948e-03 1.14104534e+02] [ 3.16353706e-03 1.73785845e-04 -9.99994981e-01 2.17988313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:114.10, Z:2.18 [[ 1.47087113e-01 9.89123276e-01 7.25267586e-04 1.31908023e+02] [ 9.89118517e-01 -1.47088663e-01 3.07974064e-03 1.14104881e+02] [ 3.15292179e-03 2.64385441e-04 -9.99994995e-01 2.17840633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:114.10, Z:2.18 [[ 6.98442952e-02 9.97557826e-01 3.96865585e-04 1.31920310e+02] [ 9.97552933e-01 -6.98451977e-02 3.12965365e-03 1.14103803e+02] [ 3.14972964e-03 1.77305975e-04 -9.99995024e-01 2.17896735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:114.10, Z:2.18 [[-7.98457629e-03 9.99968108e-01 1.74799508e-04 1.31933474e+02] [ 9.99963179e-01 7.98398701e-03 3.14590711e-03 1.14103827e+02] [ 3.14441118e-03 1.99911807e-04 -9.99995036e-01 2.17895000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:114.07, Z:2.18 [[-8.35980088e-02 9.96499558e-01 -5.57436658e-05 1.31970652e+02] [ 9.96494616e-01 8.35977701e-02 3.14545166e-03 1.14073396e+02] [ 3.13910123e-03 2.07405233e-04 -9.99995052e-01 2.17970158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:114.05, Z:2.18 [[-1.61700372e-01 9.86839860e-01 -2.84141222e-04 1.32009289e+02] [ 9.86834931e-01 1.61700465e-01 3.12717747e-03 1.14047695e+02] [ 3.13196914e-03 2.25265277e-04 -9.99995070e-01 2.17931269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.05, Y:114.03, Z:2.18 [[-2.38663719e-01 9.71102128e-01 -5.34316659e-04 1.32048698e+02] [ 9.71097246e-01 2.38664217e-01 3.08722635e-03 1.14030867e+02] [ 3.12553435e-03 2.17935486e-04 -9.99995092e-01 2.17874409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.231858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.09, Y:114.01, Z:2.18 [[-3.13303413e-01 9.49652764e-01 -7.74056824e-04 1.32091644e+02] [ 9.49647956e-01 3.13304296e-01 3.02936315e-03 1.14006723e+02] [ 3.11935842e-03 2.14028333e-04 -9.99995112e-01 2.18041672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:114.00, Z:2.18 [[-3.86707996e-01 9.22201667e-01 -1.00585292e-03 1.32129105e+02] [ 9.22196961e-01 3.86709244e-01 2.95378337e-03 1.14004658e+02] [ 3.11295657e-03 2.14657135e-04 -9.99995132e-01 2.18136295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:114.01, Z:2.18 [[-4.56356285e-01 8.89796275e-01 -1.23730885e-03 1.32163529e+02] [ 8.89791709e-01 4.56357917e-01 2.85764649e-03 1.14012892e+02] [ 3.10737889e-03 2.03157778e-04 -9.99995151e-01 2.18163106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:113.97, Z:2.18 [[-5.25179577e-01 8.50990196e-01 -1.44839101e-03 1.32227593e+02] [ 8.50985779e-01 5.25181532e-01 2.74991458e-03 1.13967725e+02] [ 3.10081856e-03 2.11638824e-04 -9.99995170e-01 2.18108079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.27, Y:113.97, Z:2.18 [[-5.88458823e-01 8.08525470e-01 -1.66650030e-03 1.32267723e+02] [ 8.08521261e-01 5.88461152e-01 2.61596617e-03 1.13969869e+02] [ 3.09574597e-03 1.91987448e-04 -9.99995190e-01 2.17963363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:113.96, Z:2.18 [[-6.48568613e-01 7.61153917e-01 -1.86259716e-03 1.32317642e+02] [ 7.61149922e-01 6.48571260e-01 2.47325192e-03 1.13964594e+02] [ 3.09055238e-03 1.86357889e-04 -9.99995207e-01 2.17958684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.411858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:132.37, Y:113.96, Z:2.18 [[-7.04028386e-01 7.10168898e-01 -2.04142845e-03 1.32370917e+02] [ 7.10165131e-01 7.04031322e-01 2.32034597e-03 1.13961718e+02] [ 3.08506711e-03 1.83838122e-04 -9.99995224e-01 2.18022209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.42, Y:113.97, Z:2.18 [[-7.55259669e-01 6.55422007e-01 -2.19689760e-03 1.32415225e+02] [ 6.55418460e-01 7.55262839e-01 2.16495767e-03 1.13970827e+02] [ 3.07819601e-03 1.95217970e-04 -9.99995243e-01 2.17920654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.47, Y:113.98, Z:2.18 [[-8.03835312e-01 5.94847316e-01 -2.33715804e-03 1.32465025e+02] [ 5.94843990e-01 8.03838680e-01 2.00114624e-03 1.13976859e+02] [ 3.06907451e-03 2.18347598e-04 -9.99995267e-01 2.17915998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.51, Y:113.99, Z:2.18 [[-8.49291759e-01 5.27917939e-01 -2.48140482e-03 1.32509604e+02] [ 5.27914906e-01 8.49295355e-01 1.80313582e-03 1.13988282e+02] [ 3.05935334e-03 2.21417800e-04 -9.99995296e-01 2.17999287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.24, Y:114.18, Z:2.18 [[-8.87316399e-01 4.61153723e-01 -2.61770054e-03 1.32239687e+02] [ 4.61151053e-01 8.87320238e-01 1.58142575e-03 1.14176711e+02] [ 3.05201904e-03 1.96069638e-04 -9.99995323e-01 2.18131954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.72, Y:114.75, Z:1.17 [[-8.93163137e-01 -4.49724599e-01 2.71963162e-03 1.32719450e+02] [ 4.49722473e-01 -8.93167277e-01 -1.38277541e-03 1.14753091e+02] [ 3.05095409e-03 -1.19645648e-05 9.99995346e-01 1.17395263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.591858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.60, Y:114.04, Z:2.18 [[-9.20215498e-01 3.91402708e-01 -2.71263703e-03 1.32598434e+02] [ 3.91400280e-01 9.20219469e-01 1.39639637e-03 1.14039967e+02] [ 3.04277473e-03 2.23258689e-04 -9.99995346e-01 2.17998158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:114.06, Z:2.18 [[-9.47470967e-01 3.19829401e-01 -2.81455290e-03 1.32639913e+02] [ 3.19827384e-01 9.47475128e-01 1.15181605e-03 1.14063836e+02] [ 3.03510351e-03 1.91141173e-04 -9.99995376e-01 2.17976270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.68, Y:114.09, Z:2.18 [[-9.69726071e-01 2.44178295e-01 -2.88217412e-03 1.32680932e+02] [ 2.44176556e-01 9.69730331e-01 9.45737904e-04 1.14088662e+02] [ 3.02586033e-03 2.13347350e-04 -9.99995399e-01 2.17966612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.71, Y:114.12, Z:2.18 [[-9.85447718e-01 1.69953352e-01 -2.94155831e-03 1.32711862e+02] [ 1.69952013e-01 9.85452090e-01 7.01140652e-04 1.14120338e+02] [ 3.01792599e-03 1.91013701e-04 -9.99995428e-01 2.17943825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:114.15, Z:2.18 [[-9.95475803e-01 9.49687388e-02 -2.97742874e-03 1.32756932e+02] [ 9.49677289e-02 9.95480236e-01 4.79053107e-04 1.14152482e+02] [ 3.00946654e-03 1.94126130e-04 -9.99995453e-01 2.18051407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.79, Y:114.19, Z:2.18 [[-9.99774761e-01 2.10108210e-02 -2.99542618e-03 1.32787086e+02] [ 2.10101329e-02 9.99779229e-01 2.61006703e-04 1.14189149e+02] [ 3.00024884e-03 1.98013612e-04 -9.99995480e-01 2.18139669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:114.22, Z:2.18 [[-9.98171152e-01 -6.03769240e-02 -2.99642998e-03 1.32819811e+02] [-6.03773272e-02 9.98175624e-01 4.41866183e-05 1.14223617e+02] [ 2.98829551e-03 2.25022241e-04 -9.99995510e-01 2.17955074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:114.26, Z:2.18 [[-9.90960885e-01 -1.34118106e-01 -2.97635371e-03 1.32838216e+02] [-1.34118038e-01 9.90965338e-01 -2.23350193e-04 1.14263669e+02] [ 2.97941867e-03 1.77851415e-04 -9.99995546e-01 2.18080266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.86, Y:114.30, Z:2.18 [[-9.77167474e-01 -2.12450129e-01 -2.94444051e-03 1.32864885e+02] [-2.12449789e-01 9.77171889e-01 -4.31264094e-04 1.14303748e+02] [ 2.96884661e-03 2.04128521e-04 -9.99995572e-01 2.17909595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.861858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:132.88, Y:114.35, Z:2.18 [[-9.58350388e-01 -2.85580469e-01 -2.88591969e-03 1.32882907e+02] [-2.85579713e-01 9.58354718e-01 -6.79726705e-04 1.14347212e+02] [ 2.95985142e-03 1.72743765e-04 -9.99995605e-01 2.17964493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.891858064 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:132.89, Y:114.39, Z:2.18 [[-9.33437104e-01 -3.58730047e-01 -2.81528814e-03 1.32894457e+02] [-3.58728957e-01 9.33441334e-01 -9.00537502e-04 1.14389970e+02] [ 2.95095618e-03 1.69330261e-04 -9.99995632e-01 2.17994802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.921858064 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:132.63, Y:114.31, Z:2.18 [[-9.04365892e-01 -4.26749213e-01 -2.72800202e-03 1.32628122e+02] [-4.26747787e-01 9.04369993e-01 -1.11424081e-03 1.14307709e+02] [ 2.94262456e-03 1.56487437e-04 -9.99995658e-01 2.18361076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.951858064 meters Centerline goodness : 0.998070 Centerline is valid? [True, True] Translation: X:132.79, Y:114.43, Z:2.18 [[-8.73314834e-01 -4.87148600e-01 -2.72800202e-03 1.32792684e+02] [-4.87147456e-01 8.73319022e-01 -1.11424081e-03 1.14432941e+02] [ 2.92521691e-03 3.55856212e-04 -9.99995658e-01 2.18115840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.981858064 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:132.74, Y:114.44, Z:2.18 [[-8.30972555e-01 -5.56307671e-01 -2.52739788e-03 1.32736216e+02] [-5.56305805e-01 8.30976375e-01 -1.45410058e-03 1.14436996e+02] [ 2.90913524e-03 1.97688443e-04 -9.99995749e-01 2.18311929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.011858064 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:132.70, Y:114.45, Z:2.18 [[-7.91194698e-01 -6.11559453e-01 -2.44645539e-03 1.32695081e+02] [-6.11557492e-01 7.91198440e-01 -1.56939519e-03 1.14449135e+02] [ 2.89541014e-03 2.54450969e-04 -9.99995776e-01 2.18201688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.041858064 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:132.24, Y:115.00, Z:1.17 [[-7.63413940e-01 6.45905652e-01 2.24619525e-03 1.32236022e+02] [-6.45903099e-01 -7.63417242e-01 1.81696408e-03 1.14995567e+02] [ 2.88837155e-03 -6.37287619e-05 9.99995827e-01 1.17058227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.071858064 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:132.25, Y:115.01, Z:1.17 [[-7.60189335e-01 6.49697733e-01 2.24273991e-03 1.32254183e+02] [-6.49695185e-01 -7.60192640e-01 1.82123771e-03 1.15005465e+02] [ 2.88816838e-03 -7.26118395e-05 9.99995827e-01 1.17113468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101858064 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:132.25, Y:115.00, Z:1.17 [[-7.60594001e-01 6.49223991e-01 2.23035202e-03 1.32249630e+02] [-6.49221395e-01 -7.60597270e-01 1.83655527e-03 1.15000717e+02] [ 2.88873540e-03 -5.11193278e-05 9.99995826e-01 1.17052769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.131858064 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:132.25, Y:115.00, Z:1.17 [[-7.63973900e-01 6.45243286e-01 2.23203491e-03 1.32252698e+02] [-6.45240679e-01 -7.63977160e-01 1.83447310e-03 1.15004745e+02] [ 2.88890515e-03 -3.87101495e-05 9.99995826e-01 1.16934207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161858064 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:132.24, Y:114.99, Z:1.17 [[-7.63950414e-01 6.45271045e-01 2.24586855e-03 1.32241661e+02] [-6.45268489e-01 -7.63953712e-01 1.81734087e-03 1.14994271e+02] [ 2.88841706e-03 -6.08298942e-05 9.99995827e-01 1.17007785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.191858064 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:132.24, Y:114.99, Z:1.17 [[-7.63560323e-01 6.45732591e-01 2.24816063e-03 1.32238415e+02] [-6.45730045e-01 -7.63563630e-01 1.81450099e-03 1.14990201e+02] [ 2.88829611e-03 -6.62239049e-05 9.99995827e-01 1.16992779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221858064 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:132.24, Y:114.99, Z:1.17 [[-7.62465586e-01 6.47024863e-01 2.24884010e-03 1.32238946e+02] [-6.47022325e-01 -7.62468899e-01 1.81365847e-03 1.14988610e+02] [ 2.88815276e-03 -7.21975805e-05 9.99995827e-01 1.17050989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.251858064 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:132.24, Y:114.99, Z:1.17 [[-7.62015714e-01 6.47554624e-01 2.24951948e-03 1.32238859e+02] [-6.47552091e-01 -7.62019031e-01 1.81281543e-03 1.14988192e+02] [ 2.88807367e-03 -7.52871977e-05 9.99995827e-01 1.17077267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281858064 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:132.24, Y:114.99, Z:1.17 [[-7.61515816e-01 6.48142444e-01 2.24389873e-03 1.32237637e+02] [-6.48139893e-01 -7.61519118e-01 1.81979249e-03 1.14986590e+02] [ 2.88825653e-03 -6.85595192e-05 9.99995827e-01 1.17069401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.311858064 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:132.23, Y:114.98, Z:1.17 [[-7.61021258e-01 6.48723039e-01 2.25046048e-03 1.32234300e+02] [-6.48720514e-01 -7.61024581e-01 1.81164134e-03 1.14982170e+02] [ 2.88790922e-03 -8.12223070e-05 9.99995827e-01 1.17033100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341858064 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:132.59, Y:114.42, Z:2.18 [[-7.52692292e-01 -6.58368620e-01 -2.25254693e-03 1.32591178e+02] [-6.58366146e-01 7.52695652e-01 -1.80904718e-03 1.14422044e+02] [ 2.88650217e-03 1.21344774e-04 -9.99995827e-01 2.18386904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.371858064 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:132.12, Y:114.92, Z:1.17 [[-7.14237011e-01 6.99900724e-01 2.11390192e-03 1.32117474e+02] [-6.99897988e-01 -7.14240135e-01 1.95867967e-03 1.14924041e+02] [ 2.88071491e-03 -8.05541910e-05 9.99995847e-01 1.17005863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401858064 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:132.12, Y:114.92, Z:1.17 [[-7.14756303e-01 6.99370413e-01 2.11013563e-03 1.32119124e+02] [-6.99367662e-01 -7.14759415e-01 1.96274683e-03 1.14924360e+02] [ 2.88092637e-03 -7.28749579e-05 9.99995847e-01 1.17107149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43185806399998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:132.12, Y:114.92, Z:1.17 [[-7.16347110e-01 6.97740886e-01 2.11527587e-03 1.32116361e+02] [-6.97738144e-01 -7.16350229e-01 1.95719141e-03 1.14919877e+02] [ 2.88089082e-03 -7.38802566e-05 9.99995848e-01 1.17106378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46185806399998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:132.11, Y:114.92, Z:1.17 [[-7.16608337e-01 6.97472590e-01 2.11600776e-03 1.32114656e+02] [-6.97469850e-01 -7.16611457e-01 1.95639982e-03 1.14918200e+02] [ 2.88089065e-03 -7.38791936e-05 9.99995848e-01 1.17107104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49185806399998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:132.11, Y:114.92, Z:1.17 [[-7.17712625e-01 6.96336203e-01 2.11674006e-03 1.32114626e+02] [-6.96333461e-01 -7.17715743e-01 1.95560717e-03 1.14916993e+02] [ 2.88097774e-03 -7.03929719e-05 9.99995848e-01 1.17057103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52185806399999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:132.11, Y:114.91, Z:1.17 [[-7.18992039e-01 6.95015082e-01 2.11747159e-03 1.32113318e+02] [-6.95012336e-01 -7.18995154e-01 1.95481478e-03 1.14914675e+02] [ 2.88107756e-03 -6.61726110e-05 9.99995848e-01 1.17015027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.551858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:132.11, Y:114.91, Z:1.17 [[-7.20063611e-01 6.93904827e-01 2.11820258e-03 1.32111221e+02] [-6.93902079e-01 -7.20066724e-01 1.95402237e-03 1.14911144e+02] [ 2.88115274e-03 -6.28047705e-05 9.99995848e-01 1.16964246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.581858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:132.11, Y:114.91, Z:1.17 [[-7.21789036e-01 6.92109888e-01 2.11893375e-03 1.32109126e+02] [-6.92107135e-01 -7.21792144e-01 1.95322916e-03 1.14906865e+02] [ 2.88127895e-03 -5.67097712e-05 9.99995848e-01 1.16967296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.11, Y:114.90, Z:1.17 [[-7.22366248e-01 6.91507419e-01 2.11966546e-03 1.32105453e+02] [-6.91504665e-01 -7.22369356e-01 1.95243479e-03 1.14902830e+02] [ 2.88130451e-03 -5.53855606e-05 9.99995848e-01 1.16913580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.641858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:132.11, Y:114.90, Z:1.17 [[-7.22930113e-01 6.90917908e-01 2.12040071e-03 1.32105786e+02] [-6.90915154e-01 -7.22933221e-01 1.95163595e-03 1.14903344e+02] [ 2.88132834e-03 -5.41205842e-05 9.99995848e-01 1.16875139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:114.90, Z:1.17 [[-7.23525194e-01 6.90294716e-01 2.12113313e-03 1.32103339e+02] [-6.90291961e-01 -7.23528301e-01 1.95083960e-03 1.14901202e+02] [ 2.88135412e-03 -5.27195489e-05 9.99995848e-01 1.16921005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.701858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.09, Y:114.89, Z:1.17 [[-7.23843154e-01 6.89961293e-01 2.12186466e-03 1.32094941e+02] [-6.89958539e-01 -7.23846262e-01 1.95004362e-03 1.14892826e+02] [ 2.88135842e-03 -5.24729162e-05 9.99995848e-01 1.16983450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.731858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.10, Y:114.89, Z:1.17 [[-7.24313813e-01 6.89467195e-01 2.11849899e-03 1.32098559e+02] [-6.89464428e-01 -7.24316909e-01 1.95370791e-03 1.14894514e+02] [ 2.88148215e-03 -4.55320680e-05 9.99995847e-01 1.17009380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.10, Y:114.89, Z:1.17 [[-7.24844815e-01 6.88908909e-01 2.12325160e-03 1.32097490e+02] [-6.88906156e-01 -7.24847923e-01 1.94852913e-03 1.14892103e+02] [ 2.88139359e-03 -5.03398599e-05 9.99995848e-01 1.17056424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.09, Y:114.89, Z:1.17 [[-7.25511330e-01 6.88206945e-01 2.12398465e-03 1.32092779e+02] [-6.88204190e-01 -7.25514437e-01 1.94772975e-03 1.14886193e+02] [ 2.88142267e-03 -4.86351325e-05 9.99995848e-01 1.17081334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.09, Y:114.88, Z:1.17 [[-7.25966870e-01 6.87726392e-01 2.12460617e-03 1.32088648e+02] [-6.87723637e-01 -7.25969977e-01 1.94705146e-03 1.14882238e+02] [ 2.88143897e-03 -4.76470326e-05 9.99995848e-01 1.17063127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.851858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.07, Y:114.86, Z:1.17 [[-7.26355775e-01 6.87315639e-01 2.12116549e-03 1.32069290e+02] [-6.87312872e-01 -7.26358871e-01 1.95080873e-03 1.14864567e+02] [ 2.88154872e-03 -4.09231568e-05 9.99995848e-01 1.16984718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.09, Y:114.89, Z:1.17 [[-7.26715730e-01 6.86935044e-01 2.11986900e-03 1.32093852e+02] [-6.86932270e-01 -7.26718821e-01 1.95222497e-03 1.14887119e+02] [ 2.88160044e-03 -3.74938366e-05 9.99995847e-01 1.16925278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.09, Y:114.89, Z:1.17 [[-7.27495089e-01 6.86109594e-01 2.12633166e-03 1.32091472e+02] [-6.86106838e-01 -7.27498195e-01 1.94516038e-03 1.14885203e+02] [ 2.88149564e-03 -4.37960755e-05 9.99995848e-01 1.16888657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.09, Y:114.88, Z:1.17 [[-7.27974636e-01 6.85600762e-01 2.12706272e-03 1.32089092e+02] [-6.85598007e-01 -7.27977742e-01 1.94436063e-03 1.14882490e+02] [ 2.88150944e-03 -4.28647431e-05 9.99995848e-01 1.16893923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.971858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:132.09, Y:114.88, Z:1.17 [[-7.28583291e-01 6.84953911e-01 2.12779396e-03 1.32087383e+02] [-6.84951155e-01 -7.28586397e-01 1.94356007e-03 1.14880279e+02] [ 2.88153081e-03 -4.13895315e-05 9.99995848e-01 1.16919632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001858064 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:132.08, Y:114.88, Z:1.17 [[-7.28978516e-01 6.84533266e-01 2.12852537e-03 1.32083642e+02] [-6.84530511e-01 -7.28981622e-01 1.94275872e-03 1.14876953e+02] [ 2.88153885e-03 -4.08111886e-05 9.99995848e-01 1.16923094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.031858064 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:132.08, Y:114.88, Z:1.17 [[-7.28259014e-01 6.85298675e-01 2.12925732e-03 1.32084666e+02] [-6.85295925e-01 -7.28262126e-01 1.94195618e-03 1.14876568e+02] [ 2.88147746e-03 -4.49242709e-05 9.99995848e-01 1.16963729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.08, Y:114.88, Z:1.17 [[-7.29610745e-01 6.83859384e-01 2.12202210e-03 1.32081301e+02] [-6.83856605e-01 -7.29613831e-01 1.94989193e-03 1.14875353e+02] [ 2.88170857e-03 -2.84967267e-05 9.99995847e-01 1.17000454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.091858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:132.08, Y:114.87, Z:1.17 [[-7.30551463e-01 6.82854319e-01 2.13063661e-03 1.32078102e+02] [-6.82851563e-01 -7.30554569e-01 1.94043302e-03 1.14872779e+02] [ 2.88157938e-03 -3.73223598e-05 9.99995848e-01 1.17086988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:132.07, Y:114.87, Z:1.17 [[-7.31140857e-01 6.82223208e-01 2.13136816e-03 1.32074980e+02] [-6.82220451e-01 -7.31143962e-01 1.93962915e-03 1.14868782e+02] [ 2.88159698e-03 -3.59208312e-05 9.99995848e-01 1.17072586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.151858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:132.07, Y:114.87, Z:1.17 [[-7.32228353e-01 6.81055874e-01 2.12957209e-03 1.32074441e+02] [-6.81053107e-01 -7.32231449e-01 1.94160355e-03 1.14868778e+02] [ 2.88168016e-03 -2.86545164e-05 9.99995848e-01 1.17069469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18185806399998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:132.07, Y:114.87, Z:1.17 [[-7.33914963e-01 6.79238014e-01 2.13228894e-03 1.32073251e+02] [-6.79235248e-01 -7.33918061e-01 1.93861528e-03 1.14867087e+02] [ 2.88170656e-03 -2.55470406e-05 9.99995848e-01 1.17065710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21185806399998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:131.85, Y:114.66, Z:1.17 [[-7.33927174e-01 6.79224818e-01 2.13302088e-03 1.31845351e+02] [-6.79222054e-01 -7.33930273e-01 1.93780961e-03 1.14660622e+02] [ 2.88169698e-03 -2.65836942e-05 9.99995848e-01 1.17172216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24185806399998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.07, Y:114.86, Z:1.17 [[-7.34887415e-01 6.78185789e-01 2.12647822e-03 1.32066067e+02] [-6.78183000e-01 -7.34890492e-01 1.94500555e-03 1.14861377e+02] [ 2.88180375e-03 -1.27812802e-05 9.99995848e-01 1.17109961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27185806399999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:132.07, Y:114.86, Z:1.17 [[-7.34813032e-01 6.78266359e-01 2.13432201e-03 1.32066510e+02] [-6.78263595e-01 -7.34816131e-01 1.93635985e-03 1.14862910e+02] [ 2.88170199e-03 -2.47704635e-05 9.99995848e-01 1.17069121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.301858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:132.06, Y:114.86, Z:1.17 [[-7.35263859e-01 6.77777618e-01 2.13505369e-03 1.32059922e+02] [-6.77774854e-01 -7.35266959e-01 1.93555275e-03 1.14858647e+02] [ 2.88170877e-03 -2.39437188e-05 9.99995848e-01 1.17055990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.331858064 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:132.44, Y:114.33, Z:2.19 [[-7.00439717e-01 -7.13708362e-01 -2.13925846e-03 1.32436010e+02] [-7.13705771e-01 7.00442962e-01 -1.93090758e-03 1.14330225e+02] [ 2.87653342e-03 1.74316754e-04 -9.99995848e-01 2.18609067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.361858064 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:131.95, Y:114.80, Z:1.17 [[-6.83838280e-01 7.29630894e-01 1.99153694e-03 1.31948384e+02] [-7.29627950e-01 -6.83841179e-01 2.07283541e-03 1.14801171e+02] [ 2.87429972e-03 -3.55968195e-05 9.99995869e-01 1.16981450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.391858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:131.76, Y:114.61, Z:1.17 [[-6.83134780e-01 7.30289602e-01 1.99232233e-03 1.31761215e+02] [-7.30286664e-01 -6.83137684e-01 2.07208025e-03 1.14608269e+02] [ 2.87424912e-03 -3.94563388e-05 9.99995869e-01 1.16942433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.421858064 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:131.94, Y:114.80, Z:1.17 [[-6.82819965e-01 7.30583986e-01 1.98374616e-03 1.31942290e+02] [-7.30581025e-01 -6.82822846e-01 2.08032880e-03 1.14796977e+02] [ 2.87440211e-03 -2.87972658e-05 9.99995868e-01 1.16954963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.451858064 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:131.94, Y:114.80, Z:1.17 [[-6.81027456e-01 7.32255164e-01 1.99456482e-03 1.31939934e+02] [-7.32252240e-01 -6.81030375e-01 2.06990391e-03 1.14798051e+02] [ 2.87405706e-03 -5.08631638e-05 9.99995869e-01 1.17017785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.481858064 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:131.94, Y:114.79, Z:1.17 [[-6.80289476e-01 7.32940821e-01 1.99534357e-03 1.31935446e+02] [-7.32937903e-01 -6.80292400e-01 2.06915295e-03 1.14794890e+02] [ 2.87398372e-03 -5.48399543e-05 9.99995869e-01 1.16998930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.511858064 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:131.93, Y:114.79, Z:1.17 [[-6.80059774e-01 7.33153953e-01 1.99612228e-03 1.31934024e+02] [-7.33151038e-01 -6.80062701e-01 2.06840144e-03 1.14794885e+02] [ 2.87394501e-03 -5.68225058e-05 9.99995869e-01 1.17047764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.541858064 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:131.85, Y:114.71, Z:1.17 [[-6.79266475e-01 7.33889000e-01 1.99799121e-03 1.31845456e+02] [-7.33886093e-01 -6.79269410e-01 2.06659455e-03 1.14705921e+02] [ 2.87382532e-03 -6.25295686e-05 9.99995869e-01 1.16944217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.571858064 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:131.93, Y:114.80, Z:1.17 [[-6.78174128e-01 7.34898574e-01 1.98463883e-03 1.31928612e+02] [-7.34895633e-01 -6.78177030e-01 2.07950818e-03 1.14795710e+02] [ 2.87416406e-03 -4.82337689e-05 9.99995868e-01 1.16994811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601858064 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:131.93, Y:114.80, Z:1.17 [[-6.77493818e-01 7.35525749e-01 1.99984317e-03 1.31926526e+02] [-7.35522854e-01 -6.77496766e-01 2.06478203e-03 1.14795044e+02] [ 2.87358763e-03 -7.20532913e-05 9.99995869e-01 1.16979856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.631858064 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:131.72, Y:114.59, Z:1.17 [[-6.76663200e-01 7.36289964e-01 2.00061582e-03 1.31724616e+02] [-7.36287075e-01 -6.76666154e-01 2.06403312e-03 1.14588593e+02] [ 2.87347588e-03 -7.63723102e-05 9.99995869e-01 1.16780682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:131.92, Y:114.79, Z:1.17 [[-6.76851763e-01 7.36116645e-01 1.99409339e-03 1.31921345e+02] [-7.36113736e-01 -6.76854697e-01 2.07035426e-03 1.14793008e+02] [ 2.87373371e-03 -6.65566051e-05 9.99995869e-01 1.16970061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.691858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.92, Y:114.79, Z:1.17 [[-6.76007255e-01 7.36892245e-01 2.00272758e-03 1.31918080e+02] [-7.36889365e-01 -6.76010216e-01 2.06196812e-03 1.14793307e+02] [ 2.87331263e-03 -8.18832442e-05 9.99995869e-01 1.16954810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:114.79, Z:1.17 [[-6.75986416e-01 7.36911360e-01 2.00350046e-03 1.31912907e+02] [-7.36908482e-01 -6.75989379e-01 2.06121689e-03 1.14789475e+02] [ 2.87327917e-03 -8.30418609e-05 9.99995869e-01 1.16957357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.751858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.92, Y:114.79, Z:1.17 [[-6.73499426e-01 7.39185029e-01 2.00427127e-03 1.31916219e+02] [-7.39182163e-01 -6.73502401e-01 2.06046710e-03 1.14792729e+02] [ 2.87294795e-03 -9.37981611e-05 9.99995869e-01 1.16612846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:131.91, Y:114.79, Z:1.17 [[-6.73524368e-01 7.39162324e-01 1.99610303e-03 1.31908877e+02] [-7.39159434e-01 -6.73527321e-01 2.06841610e-03 1.14785895e+02] [ 2.87332518e-03 -8.23097399e-05 9.99995869e-01 1.16532469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:114.72, Z:1.17 [[-6.76919034e-01 7.36054776e-01 1.99698818e-03 1.31840046e+02] [-7.36051876e-01 -6.76921976e-01 2.06755371e-03 1.14720752e+02] [ 2.87363797e-03 -7.03204375e-05 9.99995869e-01 1.17006170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.81, Y:114.69, Z:1.17 [[-6.76836741e-01 7.36130438e-01 2.00098555e-03 1.31811053e+02] [-7.36127549e-01 -6.76839695e-01 2.06365582e-03 1.14693347e+02] [ 2.87346631e-03 -7.62225077e-05 9.99995869e-01 1.16962941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:114.68, Z:1.17 [[-6.77647841e-01 7.35383858e-01 1.99600230e-03 1.31796376e+02] [-7.35380952e-01 -6.77650778e-01 2.06851740e-03 1.14680534e+02] [ 2.87374681e-03 -6.60957233e-05 9.99995869e-01 1.16804626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.75, Y:114.63, Z:1.17 [[-6.82138319e-01 7.31220427e-01 2.00040719e-03 1.31748525e+02] [-7.31217515e-01 -6.82141250e-01 2.06421659e-03 1.14634977e+02] [ 2.87395759e-03 -5.46515380e-05 9.99995869e-01 1.16772341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93185806399998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:132.15, Y:114.03, Z:2.19 [[-6.67536561e-01 -7.44574296e-01 -2.01434298e-03 1.32153268e+02] [-7.44571484e-01 6.67539587e-01 -2.05057671e-03 1.14026777e+02] [ 2.87146040e-03 1.30987416e-04 -9.99995869e-01 2.18937827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.25, Y:114.20, Z:2.19 [[-6.13481360e-01 -7.89706631e-01 -2.01434298e-03 1.32250427e+02] [-7.89704039e-01 6.13484577e-01 -2.05057671e-03 1.14197195e+02] [ 2.85512238e-03 3.32744195e-04 -9.99995869e-01 2.18730679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99185806399998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.48, Y:114.40, Z:1.17 [[-5.75532374e-01 8.17777248e-01 1.69089935e-03 1.31476849e+02] [-8.17774046e-01 -5.75534854e-01 2.28945903e-03 1.14395190e+02] [ 2.84543902e-03 -6.51158091e-05 9.99995950e-01 1.17063109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:114.48, Z:1.17 [[-5.77127051e-01 8.16652629e-01 1.68861799e-03 1.31538366e+02] [-8.16649417e-01 -5.77129518e-01 2.29114522e-03 1.14479501e+02] [ 2.84562106e-03 -5.67270119e-05 9.99995950e-01 1.17069396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.051858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.64, Y:114.62, Z:1.17 [[-5.79854281e-01 8.14718452e-01 1.69018521e-03 1.31641531e+02] [-8.14715235e-01 -5.79856743e-01 2.28998574e-03 1.14620665e+02] [ 2.84575892e-03 -4.91616075e-05 9.99995950e-01 1.17046005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:113.91, Z:2.19 [[-5.46004652e-01 -8.37780429e-01 -1.69464613e-03 1.32017306e+02] [-8.37777326e-01 5.46007255e-01 -2.28667977e-03 1.13905144e+02] [ 2.84102464e-03 1.71198317e-04 -9.99995950e-01 2.18968055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:114.46, Z:1.17 [[-5.17358445e-01 8.55767479e-01 1.50396502e-03 1.31483459e+02] [-8.55764097e-01 -5.17360629e-01 2.40610683e-03 1.14458562e+02] [ 2.83716026e-03 -4.22195828e-05 9.99995974e-01 1.16964351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.141858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.58, Y:114.61, Z:1.17 [[-5.19415348e-01 8.54520579e-01 1.50866490e-03 1.31579424e+02] [-8.54517201e-01 -5.19417538e-01 2.40315632e-03 1.14613577e+02] [ 2.83717353e-03 -4.09438280e-05 9.99995974e-01 1.16985891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:114.60, Z:1.17 [[-5.20475005e-01 8.53875570e-01 1.51026569e-03 1.31573499e+02] [-8.53872192e-01 -5.20477194e-01 2.40214988e-03 1.14604757e+02] [ 2.83719594e-03 -3.93149039e-05 9.99995974e-01 1.16959352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.57, Y:114.60, Z:1.17 [[-5.21400161e-01 8.53310956e-01 1.51128696e-03 1.31571180e+02] [-8.53307578e-01 -5.21402350e-01 2.40150718e-03 1.14601883e+02] [ 2.83722096e-03 -3.74463845e-05 9.99995974e-01 1.16908622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.231858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:132.06, Y:114.01, Z:2.19 [[-4.78523950e-01 -8.78073199e-01 -1.51231093e-03 1.32062381e+02] [-8.78069935e-01 4.78526306e-01 -2.40086218e-03 1.14011816e+02] [ 2.83181330e-03 1.79044711e-04 -9.99995974e-01 2.19012635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.261858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.47, Y:114.52, Z:1.17 [[-4.54931313e-01 8.90525552e-01 1.31970008e-03 1.31474907e+02] [-8.90522037e-01 -4.54933226e-01 2.50243860e-03 1.14516776e+02] [ 2.82886093e-03 -3.67843253e-05 9.99995998e-01 1.17026485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:114.14, Z:2.19 [[-4.19444745e-01 -9.07779910e-01 -1.31970008e-03 1.32095376e+02] [-9.07776473e-01 4.19446794e-01 -2.50243860e-03 1.14138552e+02] [ 2.82520745e-03 1.48357966e-04 -9.99995998e-01 2.18859385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:114.45, Z:1.17 [[-3.94387077e-01 9.18943696e-01 1.14737244e-03 1.31402596e+02] [-9.18940078e-01 -3.94388744e-01 2.57910252e-03 1.14450684e+02] [ 2.82256078e-03 -3.72018179e-05 9.99996016e-01 1.16997514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.351858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.93, Y:113.81, Z:2.19 [[-3.49825824e-01 -9.36814047e-01 -1.15502758e-03 1.31933341e+02] [-9.36810524e-01 3.49827684e-01 -2.57568901e-03 1.13805453e+02] [ 2.81700227e-03 1.80999462e-04 -9.99996016e-01 2.19018206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.381858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.89, Y:113.74, Z:2.19 [[-2.85439556e-01 -9.58396017e-01 -1.15502758e-03 1.31885554e+02] [-9.58392628e-01 2.85441651e-01 -2.57568901e-03 1.13735936e+02] [ 2.79822307e-03 3.71766390e-04 -9.99996016e-01 2.19041631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:113.70, Z:2.19 [[-2.19714499e-01 -9.75563532e-01 -1.15502758e-03 1.31853176e+02] [-9.75560293e-01 2.19716819e-01 -2.57568901e-03 1.13700233e+02] [ 2.76652726e-03 5.60882823e-04 -9.99996016e-01 2.19052341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.441858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:131.17, Y:114.19, Z:1.17 [[-1.85406132e-01 9.82661821e-01 5.58840728e-04 1.31169659e+02] [-9.82658114e-01 -1.85406968e-01 2.69943220e-03 1.14191910e+02] [ 2.75624193e-03 -4.86580927e-05 9.99996200e-01 1.17222418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:113.82, Z:1.17 [[-1.86912812e-01 9.82376345e-01 5.63520248e-04 1.31089764e+02] [-9.82372640e-01 -1.86913655e-01 2.69845497e-03 1.13820000e+02] [ 2.75622796e-03 -4.92110669e-05 9.99996200e-01 1.17254640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:113.93, Z:2.19 [[-1.60567445e-01 -9.87024710e-01 -5.63520248e-04 1.31862562e+02] [-9.87021029e-01 1.60568387e-01 -2.69845497e-03 1.13931862e+02] [ 2.75392527e-03 1.22922314e-04 -9.99996200e-01 2.18903067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:113.81, Z:1.17 [[-1.14612164e-01 9.93410242e-01 3.79184581e-04 1.31063709e+02] [-9.93406509e-01 -1.14612773e-01 2.72411373e-03 1.13805753e+02] [ 2.74962188e-03 -6.44678622e-05 9.99996218e-01 1.17091237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:114.01, Z:1.17 [[-1.15098103e-01 9.93354057e-01 3.80128975e-04 1.31091878e+02] [-9.93350324e-01 -1.15098713e-01 2.72398188e-03 1.14008588e+02] [ 2.74963080e-03 -6.40760933e-05 9.99996218e-01 1.17245148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.591858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.09, Y:114.01, Z:1.17 [[-1.15606924e-01 9.93294967e-01 3.83146061e-04 1.31092457e+02] [-9.93291236e-01 -1.15607540e-01 2.72355744e-03 1.14013903e+02] [ 2.74959047e-03 -6.57135269e-05 9.99996218e-01 1.17313937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:114.01, Z:1.17 [[-1.16244308e-01 9.93220575e-01 3.86476465e-04 1.31091548e+02] [-9.93216845e-01 -1.16244931e-01 2.72308476e-03 1.14008491e+02] [ 2.74954975e-03 -6.73118315e-05 9.99996218e-01 1.17337150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.651858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.09, Y:113.96, Z:1.17 [[-1.22729612e-01 9.92440070e-01 3.87891599e-04 1.31085240e+02] [-9.92436336e-01 -1.22730214e-01 2.72288317e-03 1.13959820e+02] [ 2.74990438e-03 -5.07793228e-05 9.99996218e-01 1.17370072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68185806399998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:131.01, Y:113.51, Z:1.17 [[-1.30434044e-01 9.91456906e-01 4.05300552e-04 1.31013429e+02] [-9.91453175e-01 -1.30434666e-01 2.72028938e-03 1.13512419e+02] [ 2.74991493e-03 -4.70181735e-05 9.99996218e-01 1.17368126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71185806399998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.80, Y:113.73, Z:2.19 [[-1.02985601e-01 -9.94682764e-01 -4.05300552e-04 1.31797174e+02] [-9.94679052e-01 1.02986325e-01 -2.72028938e-03 1.13732141e+02] [ 2.74756538e-03 1.22993333e-04 -9.99996218e-01 2.18804305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.00, Y:113.59, Z:1.17 [[-6.24882464e-02 9.98045676e-01 2.19908631e-04 1.31002514e+02] [-9.98041929e-01 -6.24886145e-02 2.73519487e-03 1.13593462e+02] [ 2.74359120e-03 -4.85605031e-05 9.99996235e-01 1.17227801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.75, Y:113.60, Z:2.19 [[-3.06562302e-02 -9.99529963e-01 -2.19908631e-04 1.31751042e+02] [-9.99526230e-01 3.06567175e-02 -2.73519487e-03 1.13597881e+02] [ 2.74065090e-03 1.35953681e-04 -9.99996235e-01 2.18910606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:113.61, Z:1.17 [[ 2.67419536e-03 9.99996424e-01 3.49555083e-05 1.30975804e+02] [-9.99992678e-01 2.67408965e-03 2.73755656e-03 1.13608649e+02] [ 2.73745329e-03 -4.22760134e-05 9.99996252e-01 1.17406415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.831858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:130.97, Y:113.13, Z:1.18 [[-7.72505463e-05 9.99999996e-01 3.63958960e-05 1.30969988e+02] [-9.99996250e-01 -7.73498900e-05 2.73753741e-03 1.13130995e+02] [ 2.73754021e-03 -3.61842833e-05 9.99996252e-01 1.17605334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.861858064 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:131.72, Y:113.00, Z:2.19 [[ 4.48497894e-02 -9.98993741e-01 -3.63958958e-05 1.31722246e+02] [-9.98990003e-01 -4.48495219e-02 -2.73753741e-03 1.12997536e+02] [ 2.73315040e-03 1.59137112e-04 -9.99996252e-01 2.19251397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.891858064 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:130.96, Y:112.92, Z:1.18 [[ 6.64405716e-02 9.97790371e-01 -1.63012306e-04 1.30957048e+02] [-9.97786646e-01 6.64407690e-02 2.72627286e-03 1.12920362e+02] [ 2.73107947e-03 -1.84836248e-05 9.99996270e-01 1.17578497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.921858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.76, Y:112.97, Z:2.19 [[ 1.25950476e-01 -9.92036520e-01 1.44368206e-04 1.31755164e+02] [-9.92032791e-01 -1.25950399e-01 -2.72730966e-03 1.12970511e+02] [ 2.72377402e-03 2.00287955e-04 -9.99996270e-01 2.19102773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.951858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:131.00, Y:112.84, Z:1.18 [[ 1.41134291e-01 9.89990392e-01 -3.67216939e-04 1.30999315e+02] [-9.89986719e-01 1.41134768e-01 2.69713495e-03 1.12836787e+02] [ 2.72196476e-03 -1.71183369e-05 9.99996295e-01 1.17642038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.00, Y:112.81, Z:1.18 [[ 1.41135043e-01 9.89990286e-01 -3.65668703e-04 1.31002892e+02] [-9.89986611e-01 1.41135515e-01 2.69734484e-03 1.12809986e+02] [ 2.72195403e-03 -1.86827594e-05 9.99996295e-01 1.17637826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:112.92, Z:2.19 [[ 2.04751769e-01 -9.78813863e-01 3.65986780e-04 1.31758315e+02] [-9.78810166e-01 -2.04752004e-01 -2.69730168e-03 1.12917361e+02] [ 2.71509280e-03 1.94045708e-04 -9.99996295e-01 2.19136147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:112.72, Z:1.18 [[ 2.19033749e-01 9.75717114e-01 -5.74291593e-04 1.31015522e+02] [-9.75713510e-01 2.19034501e-01 2.65219660e-03 1.12724551e+02] [ 2.71358329e-03 -2.05764985e-05 9.99996318e-01 1.17641548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:112.89, Z:2.19 [[ 2.79685919e-01 -9.60091379e-01 5.74992430e-04 1.31760867e+02] [-9.60087735e-01 -2.79686445e-01 -2.65204465e-03 1.12892439e+02] [ 2.70702279e-03 1.89696364e-04 -9.99996318e-01 2.19176101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.101858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.75, Y:112.89, Z:2.19 [[ 3.53507141e-01 -9.35431502e-01 7.78510105e-04 1.31751974e+02] [-9.35427933e-01 -3.53507948e-01 -2.59089181e-03 1.12891882e+02] [ 2.69881132e-03 1.87658656e-04 -9.99996341e-01 2.19185752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:112.89, Z:2.19 [[ 4.24895923e-01 -9.05241681e-01 9.75983616e-04 1.31744186e+02] [-9.05238209e-01 -4.24897004e-01 -2.51423602e-03 1.12886225e+02] [ 2.69068375e-03 1.84790973e-04 -9.99996363e-01 2.19220966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.74, Y:112.88, Z:2.19 [[ 4.94004066e-01 -8.69458811e-01 1.16604337e-03 1.31737148e+02] [-8.69455454e-01 -4.94005408e-01 -2.42276287e-03 1.12882054e+02] [ 2.68252425e-03 1.83031943e-04 -9.99996385e-01 2.19242699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:112.88, Z:2.19 [[ 5.60489466e-01 -8.28160456e-01 1.34781336e-03 1.31731163e+02] [-8.28157235e-01 -5.60491057e-01 -2.31702745e-03 1.12876025e+02] [ 2.67430784e-03 1.82468095e-04 -9.99996407e-01 2.19241908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:131.73, Y:112.87, Z:2.19 [[ 6.23550091e-01 -7.81781922e-01 1.52013649e-03 1.31725358e+02] [-7.81778854e-01 -6.23551917e-01 -2.19784020e-03 1.12870839e+02] [ 2.66611576e-03 1.82052898e-04 -9.99996429e-01 2.19298832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.251858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.72, Y:112.86, Z:2.19 [[ 6.82852429e-01 -7.30554399e-01 1.68212498e-03 1.31719613e+02] [-7.30551501e-01 -6.82854477e-01 -2.06594681e-03 1.12863377e+02] [ 2.65793311e-03 1.81857875e-04 -9.99996451e-01 2.19385877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:112.86, Z:2.20 [[ 7.38158544e-01 -6.74624788e-01 1.83277884e-03 1.31714170e+02] [-6.74622074e-01 -7.38160797e-01 -1.92230968e-03 1.12855762e+02] [ 2.64972325e-03 1.82536254e-04 -9.99996473e-01 2.19590095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.311858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:131.71, Y:112.85, Z:2.20 [[ 7.88729276e-01 -6.14737540e-01 1.97140281e-03 1.31710235e+02] [-6.14735026e-01 -7.88731718e-01 -1.76771239e-03 1.12847799e+02] [ 2.64158709e-03 1.82356158e-04 -9.99996494e-01 2.19705113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.71, Y:112.84, Z:2.20 [[ 8.34375322e-01 -5.51192730e-01 2.09709013e-03 1.31706671e+02] [-5.51190428e-01 -8.34377937e-01 -1.60331730e-03 1.12841178e+02] [ 2.63350258e-03 1.81872380e-04 -9.99996516e-01 2.19735621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.371858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.70, Y:112.83, Z:2.20 [[ 8.74757125e-01 -4.84556592e-01 2.20922392e-03 1.31704474e+02] [-4.84554516e-01 -8.74759896e-01 -1.43009169e-03 1.12833737e+02] [ 2.62550085e-03 1.80493467e-04 -9.99996537e-01 2.19710258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.70, Y:112.83, Z:2.20 [[ 9.09216131e-01 -4.16318032e-01 2.30719539e-03 1.31703093e+02] [-4.16316195e-01 -9.09219042e-01 -1.24913516e-03 1.12826811e+02] [ 2.61778347e-03 1.75211031e-04 -9.99996558e-01 2.19702739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:112.82, Z:2.20 [[ 9.39219623e-01 -3.43308507e-01 2.40190140e-03 1.31702427e+02] [-3.43306977e-01 -9.39222683e-01 -1.03532852e-03 1.12822248e+02] [ 2.61135736e-03 1.47811353e-04 -9.99996579e-01 2.19647244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:112.82, Z:2.20 [[ 9.62767408e-01 -2.70319930e-01 2.46048768e-03 1.31702935e+02] [-2.70318586e-01 -9.62770537e-01 -8.69552823e-04 1.12816685e+02] [ 2.60394250e-03 1.72061568e-04 -9.99996595e-01 2.19594122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.70, Y:112.81, Z:2.20 [[ 9.80827669e-01 -1.94860894e-01 2.51319418e-03 1.31703616e+02] [-1.94859807e-01 -9.80830874e-01 -6.72618803e-04 1.12811256e+02] [ 2.59608555e-03 1.70002600e-04 -9.99996616e-01 2.19614881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:112.81, Z:2.20 [[ 9.92887042e-01 -1.19032843e-01 2.55026647e-03 1.31701800e+02] [-1.19032021e-01 -9.92890304e-01 -4.72544230e-04 1.12805479e+02] [ 2.58838314e-03 1.65619672e-04 -9.99996636e-01 2.19565345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.70, Y:112.80, Z:2.20 [[ 9.99160047e-01 -4.08971618e-02 2.57329598e-03 1.31698032e+02] [-4.08966473e-02 -9.99163350e-01 -2.52260723e-04 1.12801258e+02] [ 2.58145978e-03 1.46809658e-04 -9.99996657e-01 2.19670052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:112.80, Z:2.20 [[ 9.99339174e-01 3.62569876e-02 2.57816717e-03 1.31696941e+02] [ 3.62572839e-02 -9.99342486e-01 -6.82491132e-05 1.12800355e+02] [ 2.57399748e-03 1.61681351e-04 -9.99996674e-01 2.19699327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.70, Y:112.80, Z:2.20 [[ 9.93641675e-01 1.12559468e-01 2.56677904e-03 1.31695184e+02] [ 1.12559458e-01 -9.93644980e-01 1.48706236e-04 1.12801247e+02] [ 2.56720540e-03 1.41154545e-04 -9.99996695e-01 2.19779567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.69, Y:112.80, Z:2.20 [[ 9.81643442e-01 1.90708431e-01 2.53919318e-03 1.31691467e+02] [ 1.90708142e-01 -9.81646717e-01 3.57791660e-04 1.12804378e+02] [ 2.56082453e-03 1.33020975e-04 -9.99996712e-01 2.19796185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.671858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.69, Y:112.79, Z:2.20 [[ 9.63896591e-01 2.66265089e-01 2.50277549e-03 1.31692576e+02] [ 2.66264608e-01 -9.63899828e-01 5.29821911e-04 1.12794377e+02] [ 2.55349794e-03 1.55707001e-04 -9.99996728e-01 2.19727182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:112.79, Z:2.20 [[ 9.40438864e-01 3.39954056e-01 2.44606927e-03 1.31691957e+02] [ 3.39953324e-01 -9.40442032e-01 7.21950657e-04 1.12787018e+02] [ 2.54581641e-03 1.52598923e-04 -9.99996748e-01 2.19764694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.731858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.69, Y:112.78, Z:2.20 [[ 9.11446755e-01 4.11411209e-01 2.37288416e-03 1.31691149e+02] [ 4.11410221e-01 -9.11449832e-01 9.13167570e-04 1.12781912e+02] [ 2.53845225e-03 1.43925179e-04 -9.99996768e-01 2.19773445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:112.78, Z:2.20 [[ 8.76875457e-01 4.80712158e-01 2.29208266e-03 1.31693250e+02] [ 4.80710961e-01 -8.76878440e-01 1.08323889e-03 1.12775525e+02] [ 2.53060397e-03 1.51963664e-04 -9.99996786e-01 2.19715709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:112.77, Z:2.20 [[ 8.36974000e-01 5.47238272e-01 2.19028673e-03 1.31695842e+02] [ 5.47236840e-01 -8.36976853e-01 1.26016939e-03 1.12765956e+02] [ 2.52283221e-03 1.43876575e-04 -9.99996807e-01 2.19748947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:112.76, Z:2.20 [[ 7.91788590e-01 6.10791707e-01 2.07849965e-03 1.31700668e+02] [ 6.10790065e-01 -7.91791305e-01 1.42340446e-03 1.12756429e+02] [ 2.51514159e-03 1.42491531e-04 -9.99996827e-01 2.19724680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:112.75, Z:2.20 [[ 7.42247938e-01 6.70122509e-01 1.95466786e-03 1.31704569e+02] [ 6.70120669e-01 -7.42250499e-01 1.57690175e-03 1.12746647e+02] [ 2.50757055e-03 1.39411262e-04 -9.99996846e-01 2.19794842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:112.74, Z:2.20 [[ 6.87574659e-01 7.26111397e-01 1.82390238e-03 1.31707942e+02] [ 7.26109386e-01 -6.87577063e-01 1.71532728e-03 1.12740770e+02] [ 2.49959213e-03 1.44937070e-04 -9.99996866e-01 2.19631743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:112.73, Z:2.20 [[ 6.28213944e-01 7.78038859e-01 1.66587634e-03 1.31710041e+02] [ 7.78036651e-01 -6.28216139e-01 1.85812730e-03 1.12734051e+02] [ 2.49222565e-03 1.28811371e-04 -9.99996886e-01 2.19602842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.941858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.71, Y:112.73, Z:2.20 [[ 5.65761188e-01 8.24567746e-01 1.51966054e-03 1.31714490e+02] [ 8.24565403e-01 -5.65763212e-01 1.97086870e-03 1.12728656e+02] [ 2.48488279e-03 1.38018488e-04 -9.99996903e-01 2.19605406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.72, Y:112.72, Z:2.19 [[ 4.97061549e-01 8.67714237e-01 1.34858678e-03 1.31718904e+02] [ 8.67711749e-01 -4.97063360e-01 2.08251088e-03 1.12724474e+02] [ 2.47735742e-03 1.35048504e-04 -9.99996922e-01 2.19473984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.73, Y:112.72, Z:2.20 [[ 4.29822718e-01 9.02912552e-01 1.16350977e-03 1.31725416e+02] [ 9.02909919e-01 -4.29824279e-01 2.18341994e-03 1.12717338e+02] [ 2.47154202e-03 1.12061014e-04 -9.99996939e-01 2.19623210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:112.71, Z:2.20 [[ 3.56564208e-01 9.34270288e-01 9.97596493e-04 1.31724891e+02] [ 9.34267568e-01 -3.56565581e-01 2.25772987e-03 1.12712840e+02] [ 2.46503851e-03 1.26996387e-04 -9.99996954e-01 2.19590141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.72, Y:112.71, Z:2.20 [[ 2.83015858e-01 9.59114872e-01 8.28444716e-04 1.31723870e+02] [ 9.59112080e-01 -2.83017037e-01 2.31817946e-03 1.12711806e+02] [ 2.45786436e-03 1.38489786e-04 -9.99996970e-01 2.19679404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.72, Y:112.71, Z:2.20 [[ 2.05628589e-01 9.78629909e-01 6.20914634e-04 1.31720196e+02] [ 9.78627036e-01 -2.05629491e-01 2.37427053e-03 1.12708051e+02] [ 2.45121051e-03 1.19425949e-04 -9.99996989e-01 2.19634887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.121858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.73, Y:112.70, Z:2.20 [[ 1.26677434e-01 9.91943860e-01 4.53712401e-04 1.31734164e+02] [ 9.91940953e-01 -1.26678163e-01 2.40580337e-03 1.12704698e+02] [ 2.44389734e-03 1.45294914e-04 -9.99997003e-01 2.19571623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:112.70, Z:2.20 [[ 5.09124562e-02 9.98703092e-01 2.38234809e-04 1.31750734e+02] [ 9.98700144e-01 -5.09128853e-02 2.42895853e-03 1.12700033e+02] [ 2.43793761e-03 1.14260893e-04 -9.99997022e-01 2.19755663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.75, Y:112.70, Z:2.20 [[-2.80179440e-02 9.99607418e-01 6.33615089e-05 1.31745921e+02] [ 9.99604464e-01 2.80177069e-02 2.43403809e-03 1.12696856e+02] [ 2.43130729e-03 1.31533190e-04 -9.99997036e-01 2.19659787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.81, Y:112.38, Z:2.19 [[-1.05675724e-01 9.94400637e-01 -1.18971237e-04 1.31807311e+02] [ 9.94397690e-01 1.05675701e-01 2.42509318e-03 1.12382241e+02] [ 2.42408657e-03 1.37968755e-04 -9.99997052e-01 2.19382619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:112.55, Z:2.19 [[-1.91048026e-01 9.81580642e-01 -3.07700962e-04 1.31807698e+02] [ 9.81577718e-01 1.91048209e-01 2.40090555e-03 1.12549360e+02] [ 2.41546813e-03 1.56655858e-04 -9.99997070e-01 2.19138830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:112.53, Z:2.19 [[-2.67415774e-01 9.63581082e-01 -5.50221808e-04 1.31845193e+02] [ 9.63578221e-01 2.67416322e-01 2.34996787e-03 1.12527290e+02] [ 2.41152287e-03 9.82367242e-05 -9.99997087e-01 2.19141003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.301858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.95, Y:112.34, Z:2.19 [[-3.33639369e-01 9.42700501e-01 -7.32977050e-04 1.31948659e+02] [ 9.42697708e-01 3.33640165e-01 2.29608101e-03 1.12343122e+02] [ 2.40906730e-03 7.50872330e-05 -9.99997095e-01 2.19206231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:112.31, Z:2.19 [[-4.04899211e-01 9.14360924e-01 -8.54038424e-04 1.32000597e+02] [ 9.14358165e-01 4.04900091e-01 2.25013214e-03 1.12314035e+02] [ 2.40323314e-03 1.30179724e-04 -9.99997104e-01 2.19143360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.361858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.05, Y:112.30, Z:2.19 [[-4.74307852e-01 8.80358457e-01 -1.02457278e-03 1.32050482e+02] [ 8.80355792e-01 4.74308941e-01 2.16959894e-03 1.12295979e+02] [ 2.39598880e-03 1.27069230e-04 -9.99997122e-01 2.19137168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.391858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.10, Y:112.29, Z:2.19 [[-5.41094642e-01 8.40960866e-01 -1.18774505e-03 1.32095690e+02] [ 8.40958312e-01 5.41095931e-01 2.07625443e-03 1.12291407e+02] [ 2.38873273e-03 1.24606076e-04 -9.99997139e-01 2.19141336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.421858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.11, Y:112.34, Z:2.19 [[-6.04912398e-01 7.96290895e-01 -1.34250077e-03 1.32105376e+02] [ 7.96288465e-01 6.04913875e-01 1.97083753e-03 1.12337300e+02] [ 2.38145732e-03 1.23166173e-04 -9.99997157e-01 2.19184027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:112.30, Z:2.19 [[-6.64411014e-01 7.47365920e-01 -1.47852288e-03 1.32189441e+02] [ 7.47363612e-01 6.64412646e-01 1.86177211e-03 1.12296024e+02] [ 2.37377432e-03 1.31987693e-04 -9.99997174e-01 2.19163731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:112.29, Z:2.19 [[-7.20593305e-01 6.93356099e-01 -1.61504329e-03 1.32246960e+02] [ 6.93353944e-01 7.20595103e-01 1.73348427e-03 1.12291301e+02] [ 2.36571418e-03 1.29340527e-04 -9.99997193e-01 2.19136031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.29, Y:112.30, Z:2.19 [[-7.72782455e-01 6.34668594e-01 -1.74737164e-03 1.32294439e+02] [ 6.34666618e-01 7.72784422e-01 1.58786296e-03 1.12300535e+02] [ 2.35810833e-03 1.18074187e-04 -9.99997213e-01 2.19141234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.541858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.34, Y:112.32, Z:2.19 [[-8.20415976e-01 5.71764081e-01 -1.86065413e-03 1.32335916e+02] [ 5.71762276e-01 8.20418077e-01 1.44165654e-03 1.12316231e+02] [ 2.35080171e-03 1.18906222e-04 -9.99997230e-01 2.19214819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.571858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.39, Y:112.33, Z:2.19 [[-8.63222855e-01 5.04819229e-01 -1.96176544e-03 1.32389682e+02] [ 5.04817602e-01 8.63225076e-01 1.28760584e-03 1.12326983e+02] [ 2.34345331e-03 1.21157069e-04 -9.99997247e-01 2.19211351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:112.35, Z:2.19 [[-9.00461398e-01 4.34931108e-01 -2.05007296e-03 1.32436262e+02] [ 4.34929665e-01 9.00463723e-01 1.12690502e-03 1.12347069e+02] [ 2.33614238e-03 1.23096923e-04 -9.99997264e-01 2.19279440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.631858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.47, Y:112.37, Z:2.19 [[-9.31845903e-01 3.62848047e-01 -2.12341270e-03 1.32472057e+02] [ 3.62846787e-01 9.31848313e-01 9.64564457e-04 1.12372561e+02] [ 2.32868887e-03 1.28351961e-04 -9.99997280e-01 2.19443951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.661858064 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:132.52, Y:112.40, Z:2.20 [[-9.57484293e-01 2.88477112e-01 -2.18709223e-03 1.32517186e+02] [ 2.88476063e-01 9.57486783e-01 7.87770761e-04 1.12397649e+02] [ 2.32136574e-03 1.23354375e-04 -9.99997298e-01 2.19631169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.691858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:132.55, Y:112.43, Z:2.20 [[-9.76906920e-01 2.13653680e-01 -2.23029009e-03 1.32550011e+02] [ 2.13652794e-01 9.76909456e-01 6.30585436e-04 1.12428323e+02] [ 2.31351838e-03 1.39515566e-04 -9.99997314e-01 2.19513407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.721858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:132.59, Y:112.46, Z:2.19 [[-9.90333381e-01 1.38689034e-01 -2.26841395e-03 1.32588381e+02] [ 1.38688409e-01 9.90335973e-01 4.31094731e-04 1.12459305e+02] [ 2.30628005e-03 1.12324779e-04 -9.99997334e-01 2.19495553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.751858064 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:132.62, Y:112.50, Z:2.19 [[-9.97837154e-01 6.56945871e-02 -2.28807270e-03 1.32618373e+02] [ 6.56941770e-02 9.97839772e-01 2.54019449e-04 1.12496030e+02] [ 2.29981765e-03 1.03156991e-04 -9.99997350e-01 2.19361172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.781858064 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:132.65, Y:112.53, Z:2.19 [[-9.99895300e-01 -1.42873887e-02 -2.29327751e-03 1.32654982e+02] [-1.42876510e-02 9.99897922e-01 9.80278505e-05 1.12529854e+02] [ 2.29164285e-03 1.30783136e-04 -9.99997366e-01 2.19408465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.811858064 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:132.68, Y:112.57, Z:2.19 [[-9.96048620e-01 -8.87802419e-02 -2.28387754e-03 1.32677297e+02] [-8.87802329e-02 9.96051233e-01 -1.05487996e-04 1.12568850e+02] [ 2.28422429e-03 9.76920081e-05 -9.99997386e-01 2.19268460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.841858064 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:132.59, Y:113.28, Z:1.18 [[-9.86193640e-01 1.65580762e-01 2.26169173e-03 1.32587396e+02] [-1.65580548e-01 -9.86196229e-01 2.82873281e-04 1.13280754e+02] [ 2.27731023e-03 -9.55243246e-05 9.99997402e-01 1.17770430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.871858064 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:132.59, Y:113.28, Z:1.18 [[-9.86872661e-01 1.61484500e-01 2.25981971e-03 1.32589164e+02] [-1.61484241e-01 -9.86875246e-01 2.97826293e-04 1.13284036e+02] [ 2.27825446e-03 -7.10086430e-05 9.99997402e-01 1.18082906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90185806399998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:132.59, Y:113.28, Z:1.18 [[-9.86753298e-01 1.62212249e-01 2.26179904e-03 1.32585176e+02] [-1.62212028e-01 -9.86755886e-01 2.81948029e-04 1.13283369e+02] [ 2.27757894e-03 -8.86778619e-05 9.99997402e-01 1.18086831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93185806399998 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:132.58, Y:113.28, Z:1.18 [[-9.86502998e-01 1.63727577e-01 2.26190360e-03 1.32577631e+02] [-1.63727362e-01 -9.86505586e-01 2.81106646e-04 1.13280856e+02] [ 2.27740545e-03 -9.30229622e-05 9.99997402e-01 1.18091799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96185806399998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:132.58, Y:113.28, Z:1.18 [[-9.86946585e-01 1.61032061e-01 2.26125375e-03 1.32584300e+02] [-1.61031827e-01 -9.86949172e-01 2.86338993e-04 1.13282716e+02] [ 2.27785227e-03 -8.15325320e-05 9.99997402e-01 1.18325056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.69, Y:112.61, Z:2.19 [[-9.86540515e-01 -1.63501362e-01 -2.26203216e-03 1.32691069e+02] [-1.63501149e-01 9.86543104e-01 -2.80051577e-04 1.12611079e+02] [ 2.27738105e-03 9.35626298e-05 -9.99997402e-01 2.18822340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02185806399999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:132.55, Y:113.31, Z:1.18 [[-9.72049867e-01 2.34763925e-01 2.22635977e-03 1.32545760e+02] [-2.34763498e-01 -9.72052413e-01 4.54711157e-04 1.13309523e+02] [ 2.27088816e-03 -8.06660890e-05 9.99997418e-01 1.18368044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.71, Y:112.65, Z:2.19 [[-9.70262153e-01 -2.42046269e-01 -2.22652872e-03 1.32706890e+02] [-2.42045864e-01 9.70264703e-01 -4.53882393e-04 1.12654378e+02] [ 2.27018276e-03 9.85371591e-05 -9.99997418e-01 2.18811140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.081858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.51, Y:113.34, Z:1.18 [[-9.51601943e-01 3.07325561e-01 2.17756071e-03 1.32506124e+02] [-3.07324936e-01 -9.51604431e-01 6.24600838e-04 1.13335355e+02] [ 2.26413223e-03 -7.48473355e-05 9.99997434e-01 1.18413253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.111858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:132.50, Y:113.33, Z:1.18 [[-9.52059668e-01 3.05904635e-01 2.17779283e-03 1.32501688e+02] [-3.05904007e-01 -9.52062156e-01 6.23790479e-04 1.13333280e+02] [ 2.26421453e-03 -7.23097964e-05 9.99997434e-01 1.18476154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.141858064 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:132.71, Y:112.70, Z:2.19 [[-9.47208272e-01 -3.20611520e-01 -2.17802486e-03 1.32711451e+02] [-3.20610933e-01 9.47210770e-01 -6.22979241e-04 1.12696930e+02] [ 2.26278293e-03 1.08207492e-04 -9.99997434e-01 2.18842139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.171858064 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:132.71, Y:112.74, Z:2.20 [[-9.21197516e-01 -3.89089525e-01 -2.11619747e-03 1.32707112e+02] [-3.89088738e-01 9.21199941e-01 -7.88841517e-04 1.12739224e+02] [ 2.25637096e-03 9.67097575e-05 -9.99997450e-01 2.19569858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.201858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:132.69, Y:112.77, Z:2.19 [[-8.87262165e-01 -4.61260906e-01 -2.05606290e-03 1.32688861e+02] [-4.61260010e-01 8.87264537e-01 -9.18711952e-04 1.12768588e+02] [ 2.24803761e-03 1.33241240e-04 -9.99997464e-01 2.19451685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.231858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:132.64, Y:112.78, Z:2.19 [[-8.49892604e-01 -5.26952269e-01 -1.96664794e-03 1.32640870e+02] [-5.26951180e-01 8.49894871e-01 -1.07808534e-03 1.12779164e+02] [ 2.23954351e-03 1.20070695e-04 -9.99997485e-01 2.18985052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.261858064 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:132.25, Y:113.36, Z:1.18 [[-8.17255506e-01 5.76272474e-01 1.86372885e-03 1.32252692e+02] [-5.76271157e-01 -8.17257629e-01 1.23357874e-03 1.13361421e+02] [ 2.23402410e-03 -6.58641623e-05 9.99997502e-01 1.18340481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.291858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:132.18, Y:113.31, Z:1.18 [[-8.16812431e-01 5.76900318e-01 1.86418873e-03 1.32179996e+02] [-5.76899005e-01 -8.16814555e-01 1.23288339e-03 1.13312209e+02] [ 2.23394730e-03 -6.84141431e-05 9.99997502e-01 1.17981841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.321858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:132.54, Y:112.75, Z:2.19 [[-8.13404021e-01 -5.81696160e-01 -1.86418873e-03 1.32540105e+02] [-5.81694859e-01 8.13406154e-01 -1.23288339e-03 1.12752791e+02] [ 2.23350611e-03 8.15566920e-05 -9.99997502e-01 2.18979073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.351858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.11, Y:113.31, Z:1.18 [[-7.76147321e-01 6.30549121e-01 1.77283515e-03 1.32113829e+02] [-6.30547673e-01 -7.76149343e-01 1.35261779e-03 1.13305066e+02] [ 2.22887680e-03 -6.80264100e-05 9.99997514e-01 1.18478223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.381858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:132.46, Y:112.73, Z:2.19 [[-7.63207190e-01 -6.46151407e-01 -1.77333985e-03 1.32455272e+02] [-6.46150003e-01 7.63209242e-01 -1.35195579e-03 1.12725968e+02] [ 2.22699750e-03 1.14021170e-04 -9.99997514e-01 2.19018973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.411858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:132.06, Y:113.31, Z:1.18 [[-7.25163633e-01 6.88574606e-01 1.64828835e-03 1.32058972e+02] [-6.88572992e-01 -7.25165505e-01 1.49198035e-03 1.13306696e+02] [ 2.22262164e-03 -5.30369524e-05 9.99997529e-01 1.18436122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:113.30, Z:1.18 [[-7.25267606e-01 6.88465066e-01 1.65908015e-03 1.32056397e+02] [-6.88463479e-01 -7.25269501e-01 1.47988178e-03 1.13303151e+02] [ 2.22212714e-03 -6.89057799e-05 9.99997529e-01 1.18463908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.471858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.06, Y:113.30, Z:1.19 [[-7.25274130e-01 6.88458192e-01 1.65963291e-03 1.32056379e+02] [-6.88456606e-01 -7.25276025e-01 1.47926162e-03 1.13302687e+02] [ 2.22210174e-03 -6.97150593e-05 9.99997529e-01 1.18514330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.501858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:132.05, Y:113.30, Z:1.19 [[-7.25403179e-01 6.88322215e-01 1.66018526e-03 1.32054619e+02] [-6.88320630e-01 -7.25405076e-01 1.47864146e-03 1.13300479e+02] [ 2.22208857e-03 -7.01285506e-05 9.99997529e-01 1.18585424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:113.30, Z:1.19 [[-7.25585791e-01 6.88129713e-01 1.66073719e-03 1.32054595e+02] [-6.88128130e-01 -7.25587688e-01 1.47802129e-03 1.13298552e+02] [ 2.22208083e-03 -7.03687327e-05 9.99997529e-01 1.18632618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.561858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:132.05, Y:113.29, Z:1.19 [[-7.25839859e-01 6.87861715e-01 1.66128872e-03 1.32049959e+02] [-6.87860132e-01 -7.25841757e-01 1.47740112e-03 1.13293218e+02] [ 2.22208039e-03 -7.03776554e-05 9.99997529e-01 1.18616284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:113.29, Z:1.19 [[-7.25957915e-01 6.87737118e-01 1.66184073e-03 1.32050565e+02] [-6.87735537e-01 -7.25959814e-01 1.47677993e-03 1.13293003e+02] [ 2.22206596e-03 -7.08268436e-05 9.99997529e-01 1.18596908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.621858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:131.98, Y:113.23, Z:1.19 [[-7.25735089e-01 6.87972251e-01 1.66239277e-03 1.31979173e+02] [-6.87970671e-01 -7.25736989e-01 1.47615824e-03 1.13229534e+02] [ 2.22201583e-03 -7.23776363e-05 9.99997529e-01 1.18568753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65185806399998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:132.05, Y:113.29, Z:1.19 [[-7.26380367e-01 6.87290920e-01 1.65938860e-03 1.32047844e+02] [-6.87289331e-01 -7.26382259e-01 1.47954337e-03 1.13290486e+02] [ 2.22222717e-03 -6.57688208e-05 9.99997529e-01 1.18582505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68185806399998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:132.05, Y:113.29, Z:1.19 [[-7.26621947e-01 6.87035500e-01 1.66350564e-03 1.32046588e+02] [-6.87033921e-01 -7.26623848e-01 1.47489986e-03 1.13288964e+02] [ 2.22205143e-03 -7.11901924e-05 9.99997529e-01 1.18537257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:113.28, Z:1.18 [[-7.26573165e-01 6.87087088e-01 1.66405636e-03 1.32043080e+02] [-6.87085510e-01 -7.26575067e-01 1.47427825e-03 1.13284792e+02] [ 2.22201941e-03 -7.21779944e-05 9.99997529e-01 1.18427789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.05, Y:113.29, Z:1.18 [[-7.26943870e-01 6.86694866e-01 1.66460746e-03 1.32045525e+02] [-6.86693289e-01 -7.26945772e-01 1.47365573e-03 1.13287156e+02] [ 2.22203118e-03 -7.18097724e-05 9.99997529e-01 1.18365909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:113.29, Z:1.18 [[-7.27074256e-01 6.86556810e-01 1.66515771e-03 1.32043812e+02] [-6.86555234e-01 -7.27076159e-01 1.47303371e-03 1.13285729e+02] [ 2.22201780e-03 -7.22178533e-05 9.99997529e-01 1.18342016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:113.28, Z:1.18 [[-7.26962033e-01 6.86675636e-01 1.66570658e-03 1.32041043e+02] [-6.86674061e-01 -7.26963937e-01 1.47241280e-03 1.13283239e+02] [ 2.22197861e-03 -7.34092985e-05 9.99997529e-01 1.18256704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:113.28, Z:1.18 [[-7.26861275e-01 6.86782288e-01 1.66625539e-03 1.32037639e+02] [-6.86780715e-01 -7.26863181e-01 1.47179148e-03 1.13280174e+02] [ 2.22194001e-03 -7.45638360e-05 9.99997529e-01 1.18221186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:113.28, Z:1.18 [[-7.26850549e-01 6.86793639e-01 1.66680476e-03 1.32038278e+02] [-6.86792067e-01 -7.26852456e-01 1.47116905e-03 1.13280827e+02] [ 2.22191068e-03 -7.54282601e-05 9.99997529e-01 1.18183281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.40, Y:112.72, Z:2.19 [[-7.20729789e-01 -6.93214102e-01 -1.66735562e-03 1.32395905e+02] [-6.93212549e-01 7.20731712e-01 -1.47054447e-03 1.12723404e+02] [ 2.22111823e-03 9.59666343e-05 -9.99997529e-01 2.19178416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:113.27, Z:1.18 [[-6.71186465e-01 7.41286952e-01 1.54419423e-03 1.31974304e+02] [-7.41285250e-01 -6.71188237e-01 1.59014675e-03 1.13274128e+02] [ 2.21520004e-03 -7.74034326e-05 9.99997543e-01 1.18240581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.951858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.97, Y:113.27, Z:1.18 [[-6.71229634e-01 7.41247861e-01 1.54488951e-03 1.31972873e+02] [-7.41246161e-01 -6.71231408e-01 1.58947096e-03 1.13273197e+02] [ 2.21517031e-03 -7.82434078e-05 9.99997543e-01 1.18254069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.97, Y:113.27, Z:1.18 [[-6.71261184e-01 7.41219289e-01 1.54548218e-03 1.31971077e+02] [-7.41217590e-01 -6.71262958e-01 1.58889449e-03 1.13273109e+02] [ 2.21514418e-03 -7.89753834e-05 9.99997543e-01 1.18311817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:113.27, Z:1.18 [[-6.74502254e-01 7.38271169e-01 1.54607425e-03 1.31959779e+02] [-7.38269464e-01 -6.74504022e-01 1.58831817e-03 1.13265107e+02] [ 2.21544281e-03 -7.00952237e-05 9.99997543e-01 1.18308104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.37, Y:112.73, Z:2.19 [[-6.67861870e-01 -7.44283621e-01 -1.55358490e-03 1.32371787e+02] [-7.44281949e-01 6.67863670e-01 -1.58098539e-03 1.12732181e+02] [ 2.21428444e-03 1.00425337e-04 -9.99997543e-01 2.19085506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.84, Y:113.18, Z:1.18 [[-6.24669818e-01 7.80887708e-01 1.41662953e-03 1.31840593e+02] [-7.80885865e-01 -6.24671422e-01 1.69719902e-03 1.13181938e+02] [ 2.21024983e-03 -4.60369729e-05 9.99997556e-01 1.18348654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:112.65, Z:2.19 [[-6.18185529e-01 -7.86030911e-01 -1.43445334e-03 1.32258789e+02] [-7.86029117e-01 6.18187187e-01 -1.68200944e-03 1.12651475e+02] [ 2.20887208e-03 8.77281970e-05 -9.99997557e-01 2.19204290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:112.62, Z:2.19 [[-5.58000160e-01 -8.29839601e-01 -1.43445334e-03 1.32204323e+02] [-8.29837935e-01 5.58001947e-01 -1.68200944e-03 1.12621764e+02] [ 2.19622579e-03 2.51802262e-04 -9.99997557e-01 2.19172137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:112.87, Z:1.18 [[-5.19409727e-01 8.54524541e-01 1.15985633e-03 1.31534411e+02] [-8.54522523e-01 -5.19411021e-01 1.85724706e-03 1.12869721e+02] [ 2.18950535e-03 -2.64511728e-05 9.99997603e-01 1.18233142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:112.43, Z:2.19 [[-4.99620244e-01 -8.66243769e-01 -1.15985633e-03 1.32053582e+02] [-8.66241781e-01 4.99621584e-01 -1.85724706e-03 1.12432000e+02] [ 2.18831795e-03 7.67977883e-05 -9.99997603e-01 2.19386030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.51, Y:112.89, Z:1.18 [[-4.56855135e-01 8.89540518e-01 1.02584674e-03 1.31508115e+02] [-8.89538424e-01 -4.56856285e-01 1.93050692e-03 1.12889055e+02] [ 2.18592866e-03 -3.05680959e-05 9.99997610e-01 1.18099224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:112.46, Z:2.19 [[-4.45750744e-01 -8.95156535e-01 -1.02584674e-03 1.32034602e+02] [-8.95154455e-01 4.45751920e-01 -1.93050692e-03 1.12460835e+02] [ 2.18537904e-03 5.77663865e-05 -9.99997610e-01 2.19485603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:112.78, Z:1.18 [[-3.93509706e-01 9.19320013e-01 9.08204782e-04 1.31416813e+02] [-9.19317872e-01 -3.93510750e-01 1.98504975e-03 1.12781922e+02] [ 2.18228431e-03 -5.37925424e-05 9.99997617e-01 1.18205538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.311858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.36, Y:112.68, Z:1.18 [[-3.98137201e-01 9.17325419e-01 9.19209628e-04 1.31361543e+02] [-9.17323284e-01 -3.98138258e-01 1.97994063e-03 1.12676195e+02] [ 2.18222239e-03 -5.49243739e-05 9.99997617e-01 1.18116158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:112.31, Z:2.20 [[-3.84121571e-01 -9.23282066e-01 -9.19209628e-04 1.31939131e+02] [-9.23279948e-01 3.84122660e-01 -1.97994063e-03 1.12308283e+02] [ 2.18113292e-03 8.81499120e-05 -9.99997617e-01 2.19578446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.371858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.31, Y:112.63, Z:1.18 [[-3.32122479e-01 9.43235958e-01 7.66556091e-04 1.31306266e+02] [-9.43233756e-01 -3.32123360e-01 2.03862757e-03 1.12631497e+02] [ 2.17749801e-03 -4.59675401e-05 9.99997628e-01 1.18181685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:112.24, Z:2.19 [[-3.27471754e-01 -9.44860658e-01 -7.66556091e-04 1.31881537e+02] [-9.44858460e-01 3.27472646e-01 -2.03862757e-03 1.12235000e+02] [ 2.17724514e-03 5.66940635e-05 -9.99997628e-01 2.19477310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.16, Y:112.32, Z:1.18 [[-2.71077846e-01 9.62557218e-01 6.35076927e-04 1.31164950e+02] [-9.62554973e-01 -2.71078586e-01 2.07944997e-03 1.12318395e+02] [ 2.17374533e-03 -4.76036347e-05 9.99997636e-01 1.18485086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.84, Y:112.21, Z:2.19 [[-2.66503987e-01 -9.63833607e-01 -6.35076927e-04 1.31837052e+02] [-9.63831365e-01 2.66504737e-01 -2.07944997e-03 1.12213328e+02] [ 2.17349477e-03 5.79253535e-05 -9.99997636e-01 2.19458244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:112.36, Z:1.18 [[-1.98648304e-01 9.80070711e-01 5.03193445e-04 1.31150649e+02] [-9.80068440e-01 -1.98648927e-01 2.11088837e-03 1.12364690e+02] [ 2.16877870e-03 -7.38396211e-05 9.99997645e-01 1.18277190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.12, Y:112.25, Z:1.18 [[-2.04103718e-01 9.78949139e-01 5.05747477e-04 1.31120269e+02] [-9.78946866e-01 -2.04104335e-01 2.11027627e-03 1.12250564e+02] [ 2.16907839e-03 -6.43846739e-05 9.99997645e-01 1.18308847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.551858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.77, Y:112.04, Z:2.20 [[-1.98484607e-01 -9.80103875e-01 -5.05747477e-04 1.31765091e+02] [-9.80101606e-01 1.98485236e-01 -2.11027627e-03 1.12037040e+02] [ 2.16867336e-03 7.68265578e-05 -9.99997645e-01 2.19686739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.581858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.07, Y:112.14, Z:1.18 [[-1.41733263e-01 9.89904822e-01 3.55313581e-04 1.31065780e+02] [-9.89902519e-01 -1.41733700e-01 2.13572975e-03 1.12139151e+02] [ 2.16452908e-03 -4.90218632e-05 9.99997656e-01 1.18232179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.611858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.71, Y:111.89, Z:2.20 [[-1.29089219e-01 -9.91632920e-01 -3.55313581e-04 1.31711168e+02] [-9.91630623e-01 1.29089685e-01 -2.13572975e-03 1.11890366e+02] [ 2.16372724e-03 7.66401428e-05 -9.99997656e-01 2.19630781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.01, Y:111.95, Z:1.18 [[-7.85722460e-02 9.96908399e-01 2.14290828e-04 1.31008767e+02] [-9.96906082e-01 -7.85725255e-02 2.14995874e-03 1.11946798e+02] [ 2.16014930e-03 -4.47007426e-05 9.99997666e-01 1.18248093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.67, Y:111.78, Z:2.20 [[-5.83308575e-02 -9.98297283e-01 -2.14290828e-04 1.31672366e+02] [-9.98294972e-01 5.83311840e-02 -2.14995874e-03 1.11783488e+02] [ 2.15879781e-03 8.85165190e-05 -9.99997666e-01 2.19710391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.97, Y:111.88, Z:1.18 [[-1.00575976e-02 9.99949419e-01 6.66136964e-05 1.30973043e+02] [-9.99947098e-01 -1.00577178e-02 2.15487508e-03 1.11880499e+02] [ 2.15543606e-03 -4.49373061e-05 9.99997676e-01 1.18273406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.64, Y:111.66, Z:2.20 [[ 1.19597958e-02 -9.99928477e-01 -6.66136962e-05 1.31642712e+02] [-9.99926159e-01 -1.19596245e-02 -2.15487508e-03 1.11660301e+02] [ 2.15392428e-03 9.23806432e-05 -9.99997676e-01 2.19821846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:111.61, Z:1.18 [[ 5.61840943e-02 9.98420423e-01 -8.04894531e-05 1.30941920e+02] [-9.98418109e-01 5.61841375e-02 2.14979184e-03 1.11605189e+02] [ 2.15091831e-03 -4.04219798e-05 9.99997686e-01 1.18251157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:111.58, Z:1.18 [[ 5.54503447e-02 9.98461443e-01 -7.42067625e-05 1.30942716e+02] [-9.98459130e-01 5.54503760e-02 2.15000868e-03 1.11578609e+02] [ 2.15081556e-03 -4.51263031e-05 9.99997686e-01 1.18210284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:111.55, Z:1.18 [[ 5.57192395e-02 9.98446474e-01 -7.44653951e-05 1.30943277e+02] [-9.98444160e-01 5.57192707e-02 2.14999972e-03 1.11550873e+02] [ 2.15080880e-03 -4.54468105e-05 9.99997686e-01 1.18191316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:111.52, Z:1.18 [[ 5.62811309e-02 9.98414958e-01 -7.50574607e-05 1.30943347e+02] [-9.98412644e-01 5.62811621e-02 2.14997905e-03 1.11522613e+02] [ 2.15079557e-03 -4.60649346e-05 9.99997686e-01 1.18187462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.881858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.94, Y:111.50, Z:1.18 [[ 5.72060032e-02 9.98362393e-01 -7.56459353e-05 1.30942269e+02] [-9.98360079e-01 5.72060335e-02 2.14995835e-03 1.11495764e+02] [ 2.15076497e-03 -4.74686423e-05 9.99997686e-01 1.18235270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:111.52, Z:2.20 [[ 9.11669095e-02 -9.95835623e-01 7.60450437e-05 1.31645473e+02] [-9.95833310e-01 -9.11668619e-02 -2.14994423e-03 1.11523041e+02] [ 2.14792384e-03 1.20275584e-04 -9.99997686e-01 2.19973204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:111.41, Z:1.18 [[ 1.36819481e-01 9.90595967e-01 -2.43459083e-04 1.30943153e+02] [-9.90593677e-01 1.36819688e-01 2.13081616e-03 1.11412772e+02] [ 2.14408789e-03 -5.03681326e-05 9.99997700e-01 1.18167649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.971858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.64, Y:111.49, Z:2.20 [[ 1.67095213e-01 -9.85940734e-01 2.44031355e-04 1.31640691e+02] [-9.85938438e-01 -1.67095351e-01 -2.13075062e-03 1.11494068e+02] [ 2.14157033e-03 1.15438335e-04 -9.99997700e-01 2.20032206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.001858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:130.95, Y:111.33, Z:1.18 [[ 2.16051424e-01 9.76381900e-01 -4.08811332e-04 1.30946702e+02] [-9.76379646e-01 2.16051804e-01 2.09865199e-03 1.11328977e+02] [ 2.13741024e-03 -5.42616866e-05 9.99997714e-01 1.18151087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.64, Y:111.47, Z:2.20 [[ 2.42116148e-01 -9.70247187e-01 4.09065450e-04 1.31637644e+02] [-9.70244924e-01 -2.42116468e-01 -2.09860245e-03 1.11465732e+02] [ 2.13520461e-03 1.11211866e-04 -9.99997714e-01 2.19976322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:111.25, Z:1.18 [[ 2.94902844e-01 9.55527073e-01 -5.70398648e-04 1.30955428e+02] [-9.55524868e-01 2.94903390e-01 2.05379557e-03 1.11246241e+02] [ 2.13066977e-03 -6.06400639e-05 9.99997728e-01 1.18267753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.64, Y:111.44, Z:2.20 [[ 3.14677150e-01 -9.49198591e-01 5.70646676e-04 1.31638725e+02] [-9.49196375e-01 -3.14677650e-01 -2.05372666e-03 1.11437784e+02] [ 2.12896420e-03 1.04605093e-04 -9.99997728e-01 2.19910604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.121858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.63, Y:111.43, Z:2.20 [[ 3.87033751e-01 -9.22065261e-01 7.27480865e-04 1.31631575e+02] [-9.22063105e-01 -3.87034422e-01 -1.99658209e-03 1.11431694e+02] [ 2.12253913e-03 1.01961393e-04 -9.99997742e-01 2.19928608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:111.42, Z:2.20 [[ 4.55855467e-01 -8.90053381e-01 8.78531403e-04 1.31625631e+02] [-8.90051299e-01 -4.55856303e-01 -1.92774381e-03 1.11424107e+02] [ 2.11627897e-03 9.68345376e-05 -9.99997756e-01 2.19911900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.62, Y:111.42, Z:2.20 [[ 5.24057425e-01 -8.51682296e-01 1.03993885e-03 1.31621615e+02] [-8.51680316e-01 -5.24058451e-01 -1.83816463e-03 1.11420007e+02] [ 2.11052102e-03 7.76083788e-05 -9.99997770e-01 2.19963643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.62, Y:111.41, Z:2.20 [[ 5.88839941e-01 -8.08248832e-01 1.16179677e-03 1.31617830e+02] [-8.08246926e-01 -5.88841079e-01 -1.75761568e-03 1.11413148e+02] [ 2.10470449e-03 9.59356420e-05 -9.99997781e-01 2.19934072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.61, Y:111.40, Z:2.20 [[ 6.50488181e-01 -7.59515279e-01 1.29165208e-03 1.31612404e+02] [-7.59513479e-01 -6.50489456e-01 -1.65635231e-03 1.11404638e+02] [ 2.09823095e-03 9.64104304e-05 -9.99997794e-01 2.19916733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:111.40, Z:2.20 [[ 7.07624421e-01 -7.06587349e-01 1.41284506e-03 1.31612255e+02] [-7.06585666e-01 -7.07625825e-01 -1.54556650e-03 1.11400078e+02] [ 2.09184339e-03 9.53845331e-05 -9.99997808e-01 2.19986808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.301858064 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:131.61, Y:111.40, Z:2.20 [[ 7.62854933e-01 -6.46567851e-01 1.53789370e-03 1.31613952e+02] [-6.46566315e-01 -7.62856479e-01 -1.41162625e-03 1.11399159e+02] [ 2.08590433e-03 8.25157842e-05 -9.99997821e-01 2.20101201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.331858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:131.61, Y:111.39, Z:2.20 [[ 8.11692039e-01 -5.84083372e-01 1.62761959e-03 1.31612207e+02] [-5.84081936e-01 -8.11693664e-01 -1.29922075e-03 1.11391817e+02] [ 2.07998174e-03 1.03903933e-04 -9.99997831e-01 2.20095935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.361858064 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:131.61, Y:111.39, Z:2.20 [[ 8.55936763e-01 -5.17077657e-01 1.71890523e-03 1.31610787e+02] [-5.17076357e-01 -8.55938482e-01 -1.16447185e-03 1.11386412e+02] [ 2.07339950e-03 1.07909013e-04 -9.99997845e-01 2.20141014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.391858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.61, Y:111.38, Z:2.20 [[ 8.93971629e-01 -4.48119950e-01 1.79917182e-03 1.31612682e+02] [-4.48118795e-01 -8.93973433e-01 -1.02335420e-03 1.11383991e+02] [ 2.06699724e-03 1.08606909e-04 -9.99997858e-01 2.20027358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.421858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:131.62, Y:111.38, Z:2.20 [[ 9.26604482e-01 -3.76032770e-01 1.86791335e-03 1.31615410e+02] [-3.76031764e-01 -9.26606358e-01 -8.76930827e-04 1.11382786e+02] [ 2.06057512e-03 1.10173282e-04 -9.99997871e-01 2.19991793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.451858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.62, Y:111.38, Z:2.20 [[ 9.53154755e-01 -3.02476954e-01 1.92486804e-03 1.31616237e+02] [-3.02476102e-01 -9.53156693e-01 -7.25905339e-04 1.11378590e+02] [ 2.05427049e-03 1.09673542e-04 -9.99997884e-01 2.19937640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.481858064 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:131.62, Y:111.38, Z:2.20 [[ 9.73862609e-01 -2.27129344e-01 1.96968260e-03 1.31618260e+02] [-2.27128651e-01 -9.73864595e-01 -5.71433462e-04 1.11375122e+02] [ 2.04799345e-03 1.09126330e-04 -9.99997897e-01 2.19913042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.511858064 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:131.62, Y:111.37, Z:2.20 [[ 9.88632052e-01 -1.50341801e-01 2.00218264e-03 1.31615147e+02] [-1.50341269e-01 -9.88634073e-01 -4.14414421e-04 1.11367260e+02] [ 2.04172979e-03 1.08692700e-04 -9.99997910e-01 2.19810845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.541858064 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:131.61, Y:111.36, Z:2.20 [[ 9.97358934e-01 -7.26021200e-02 2.02225329e-03 1.31611270e+02] [-7.26017504e-02 -9.97360978e-01 -2.55652397e-04 1.11359690e+02] [ 2.03547743e-03 1.08158073e-04 -9.99997923e-01 2.19894542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.571858064 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:131.61, Y:111.35, Z:2.20 [[ 9.99982857e-01 5.49231381e-03 2.02981137e-03 1.31608995e+02] [ 5.49252044e-03 -9.99984911e-01 -9.62332756e-05 1.11352998e+02] [ 2.02925220e-03 1.07380406e-04 -9.99997935e-01 2.19802422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.601858064 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:131.61, Y:111.35, Z:2.20 [[ 9.96481310e-01 8.37908059e-02 2.02488629e-03 1.31607058e+02] [ 8.37908509e-02 -9.96483361e-01 6.27345559e-05 1.11346099e+02] [ 2.02302208e-03 1.07153133e-04 -9.99997948e-01 2.19836270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.631858064 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:131.61, Y:111.34, Z:2.20 [[ 9.86791213e-01 1.61984787e-01 2.00757159e-03 1.31605481e+02] [ 1.61984673e-01 -9.86793250e-01 2.20429314e-04 1.11341324e+02] [ 2.01676429e-03 1.07678117e-04 -9.99997961e-01 2.19858484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.661858064 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:131.61, Y:111.33, Z:2.20 [[ 9.71109529e-01 2.38626005e-01 1.97806017e-03 1.31605386e+02] [ 2.38625733e-01 -9.71111537e-01 3.75775752e-04 1.11332652e+02] [ 2.01058692e-03 1.07096645e-04 -9.99997973e-01 2.19827726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.691858064 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:131.61, Y:111.32, Z:2.20 [[ 9.49276297e-01 3.14437216e-01 1.93659490e-03 1.31605472e+02] [ 3.14436791e-01 -9.49278266e-01 5.27892767e-04 1.11324651e+02] [ 2.00435658e-03 1.07820596e-04 -9.99997985e-01 2.19863153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.721858064 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:131.61, Y:111.32, Z:2.20 [[ 9.21689864e-01 3.87922992e-01 1.88352530e-03 1.31605290e+02] [ 3.87922418e-01 -9.21691782e-01 6.75802758e-04 1.11317152e+02] [ 1.99818922e-03 1.07781138e-04 -9.99997998e-01 2.19896413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.751858064 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:131.61, Y:111.31, Z:2.20 [[ 8.88543934e-01 4.58787934e-01 1.81927166e-03 1.31605261e+02] [ 4.58787216e-01 -8.88545790e-01 8.18601106e-04 1.11311783e+02] [ 1.99207048e-03 1.07295534e-04 -9.99998010e-01 2.19851096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.781858064 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:131.61, Y:111.30, Z:2.20 [[ 8.49826715e-01 5.27059305e-01 1.74420760e-03 1.31606147e+02] [ 5.27058450e-01 -8.49828499e-01 9.55610265e-04 1.11304748e+02] [ 1.98594060e-03 1.07196219e-04 -9.99998022e-01 2.19840845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.811858064 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:131.61, Y:111.30, Z:2.20 [[ 8.05925548e-01 5.92014577e-01 1.65890730e-03 1.31609152e+02] [ 5.92013591e-01 -8.05927248e-01 1.08591950e-03 1.11296498e+02] [ 1.97983876e-03 1.06925400e-04 -9.99998034e-01 2.19823694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.841858064 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:131.61, Y:111.29, Z:2.20 [[ 7.55905630e-01 6.54678725e-01 1.56401263e-03 1.31612059e+02] [ 6.54677618e-01 -7.55907240e-01 1.20870880e-03 1.11287814e+02] [ 1.97356440e-03 1.10254276e-04 -9.99998046e-01 2.19875808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.871858064 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:131.61, Y:111.28, Z:2.20 [[ 7.01716608e-01 7.12454679e-01 1.46012010e-03 1.31614012e+02] [ 7.12453459e-01 -7.01718118e-01 1.32333969e-03 1.11281578e+02] [ 1.96741229e-03 1.11658180e-04 -9.99998058e-01 2.19853999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90185806399998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:131.61, Y:111.28, Z:2.20 [[ 6.41872241e-01 7.66810413e-01 1.34787719e-03 1.31606382e+02] [ 7.66809090e-01 -6.41873645e-01 1.42919619e-03 1.11280001e+02] [ 1.96108937e-03 1.16203116e-04 -9.99998070e-01 2.19859141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93185806399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:131.60, Y:111.28, Z:2.20 [[ 5.81357084e-01 8.13647584e-01 1.24454423e-03 1.31598548e+02] [ 8.13646189e-01 -5.81358401e-01 1.51257642e-03 1.11281076e+02] [ 1.95423039e-03 1.33271654e-04 -9.99998082e-01 2.19895457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96185806399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:131.60, Y:111.28, Z:2.20 [[ 5.14532591e-01 8.57470117e-01 1.10061993e-03 1.31598539e+02] [ 8.57468611e-01 -5.14533756e-01 1.61090968e-03 1.11275602e+02] [ 1.94761302e-03 1.14881509e-04 -9.99998097e-01 2.19920934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99185806399998 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:131.60, Y:111.27, Z:2.20 [[ 4.46713979e-01 8.94676291e-01 9.77963983e-04 1.31603118e+02] [ 8.94674719e-01 -4.46715032e-01 1.68135626e-03 1.11269264e+02] [ 1.94114080e-03 1.23874306e-04 -9.99998108e-01 2.19727515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02185806399999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:131.61, Y:111.26, Z:2.20 [[ 3.75850498e-01 9.26679942e-01 8.29582222e-04 1.31610279e+02] [ 9.26678293e-01 -3.75851398e-01 1.75163073e-03 1.11261178e+02] [ 1.93500070e-03 1.10404553e-04 -9.99998122e-01 2.19726250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.051858064 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:131.61, Y:111.26, Z:2.20 [[ 3.01036703e-01 9.53612306e-01 6.87737780e-04 1.31612668e+02] [ 9.53610603e-01 -3.01037468e-01 1.80565642e-03 1.11257720e+02] [ 1.92893102e-03 1.12265184e-04 -9.99998133e-01 2.19815644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.081858064 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:131.62, Y:111.25, Z:2.20 [[ 2.25451924e-01 9.74254150e-01 5.29671684e-04 1.31615501e+02] [ 9.74252395e-01 -2.25452525e-01 1.85194725e-03 1.11254038e+02] [ 1.92368311e-03 9.85088377e-05 -9.99998145e-01 2.19821542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.111858064 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:131.61, Y:111.25, Z:2.20 [[ 1.48466837e-01 9.88917313e-01 3.82895600e-04 1.31608392e+02] [ 9.88915526e-01 -1.48467298e-01 1.88267352e-03 1.11249784e+02] [ 1.91865592e-03 9.91368205e-05 -9.99998154e-01 2.19970122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.141858064 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:131.60, Y:111.25, Z:2.20 [[ 7.12360945e-02 9.97459449e-01 2.57119469e-04 1.31598034e+02] [ 9.97457649e-01 -7.12364555e-02 1.89902092e-03 1.11246133e+02] [ 1.91251264e-03 1.21186948e-04 -9.99998164e-01 2.19819853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.171858064 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:131.59, Y:111.24, Z:2.20 [[-9.50006265e-03 9.99954869e-01 9.57017942e-05 1.31591650e+02] [ 9.99953057e-01 9.49986291e-03 1.90712109e-03 1.11240378e+02] [ 1.90612587e-03 1.13815072e-04 -9.99998177e-01 2.20129055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.201858064 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:131.65, Y:110.90, Z:2.20 [[-8.81421367e-02 9.96107907e-01 -4.32984609e-05 1.31648309e+02] [ 9.96106097e-01 8.81420592e-02 1.90304261e-03 1.10897444e+02] [ 1.89945221e-03 1.24608381e-04 -9.99998188e-01 2.19890042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.231858064 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:131.65, Y:111.09, Z:2.20 [[-1.66471434e-01 9.86046256e-01 -2.05361678e-04 1.31653299e+02] [ 9.86044460e-01 1.66471523e-01 1.88539029e-03 1.11092250e+02] [ 1.89326891e-03 1.11367879e-04 -9.99998202e-01 2.20248200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.261858064 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:131.74, Y:110.85, Z:2.20 [[-2.43131150e-01 9.69993364e-01 -3.42778233e-04 1.31741906e+02] [ 9.69991589e-01 2.43131362e-01 1.85946396e-03 1.10854385e+02] [ 1.88700784e-03 1.19601608e-04 -9.99998212e-01 2.20089717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.291858064 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:131.79, Y:110.83, Z:2.20 [[-3.18659181e-01 9.47869233e-01 -4.94178135e-04 1.31786339e+02] [ 9.47867495e-01 3.18659545e-01 1.81831686e-03 1.10832972e+02] [ 1.88100118e-03 1.11007969e-04 -9.99998225e-01 2.20064242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.321858064 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:131.83, Y:110.81, Z:2.20 [[-3.91770574e-01 9.20062724e-01 -6.33165302e-04 1.31833510e+02] [ 9.20061031e-01 3.91771070e-01 1.76855777e-03 1.10814817e+02] [ 1.87523993e-03 1.10318173e-04 -9.99998236e-01 2.20126001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.351858064 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:131.88, Y:110.81, Z:2.20 [[-4.62502248e-01 8.86617777e-01 -7.67395507e-04 1.31879986e+02] [ 8.86616138e-01 4.62502871e-01 1.70825797e-03 1.10805013e+02] [ 1.86949451e-03 1.09687911e-04 -9.99998246e-01 2.20061551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.381858064 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:131.88, Y:110.87, Z:2.20 [[-5.30539417e-01 8.47659793e-01 -8.96093067e-04 1.31884029e+02] [ 8.47658217e-01 5.30540163e-01 1.63784537e-03 1.10865127e+02] [ 1.86374903e-03 1.09360876e-04 -9.99998257e-01 2.20152450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.411858064 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:131.98, Y:110.79, Z:2.20 [[-5.95235141e-01 8.03550936e-01 -1.00990989e-03 1.31979583e+02] [ 8.03549424e-01 5.95235986e-01 1.56352434e-03 1.10790743e+02] [ 1.85750615e-03 1.19152117e-04 -9.99998268e-01 2.19847916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.441858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:131.92, Y:110.91, Z:2.20 [[-6.56401796e-01 7.54410629e-01 -1.13338212e-03 1.31923006e+02] [ 7.54409208e-01 6.56402766e-01 1.46821021e-03 1.10910997e+02] [ 1.85158855e-03 1.08701907e-04 -9.99998280e-01 2.19912648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.471858064 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:132.08, Y:110.80, Z:2.20 [[-7.13720514e-01 7.00429508e-01 -1.23803651e-03 1.32081119e+02] [ 7.00428170e-01 7.13721578e-01 1.37350271e-03 1.10797786e+02] [ 1.84565520e-03 1.13141412e-04 -9.99998290e-01 2.19788074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.501858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:131.98, Y:110.93, Z:2.20 [[-7.67223061e-01 6.41378967e-01 -1.34023534e-03 1.31982604e+02] [ 6.41377728e-01 7.67224223e-01 1.26524680e-03 1.10928451e+02] [ 1.83976370e-03 1.11129422e-04 -9.99998301e-01 2.19745703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.531858064 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:132.18, Y:110.82, Z:2.20 [[-8.15797215e-01 5.78336293e-01 -1.42698062e-03 1.32182246e+02] [ 5.78335147e-01 8.15798454e-01 1.15766589e-03 1.10822445e+02] [ 1.83364879e-03 1.19147564e-04 -9.99998312e-01 2.19554920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.561858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:132.05, Y:110.95, Z:2.20 [[-8.59226975e-01 5.11592338e-01 -1.51166609e-03 1.32046403e+02] [ 5.11591307e-01 8.59228297e-01 1.03384004e-03 1.10947573e+02] [ 1.82777093e-03 1.14948022e-04 -9.99998323e-01 2.19685610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.591858064 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:132.12, Y:110.94, Z:2.20 [[-8.97355665e-01 4.41305234e-01 -1.58129365e-03 1.32123100e+02] [ 4.41304307e-01 8.97357050e-01 9.12657865e-04 1.10942529e+02] [ 1.82174570e-03 1.21147007e-04 -9.99998333e-01 2.19649277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.621858064 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:132.02, Y:111.02, Z:2.20 [[-9.29862083e-01 3.67904613e-01 -1.64425373e-03 1.32024860e+02] [ 3.67903806e-01 9.29863529e-01 7.79924011e-04 1.11015764e+02] [ 1.81586922e-03 1.20294559e-04 -9.99998344e-01 2.19678412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65185806399998 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:131.79, Y:111.12, Z:2.20 [[-9.56031599e-01 2.93258778e-01 -1.69411152e-03 1.31789590e+02] [ 2.93258086e-01 9.56033092e-01 6.49219056e-04 1.11120029e+02] [ 1.81001587e-03 1.23862030e-04 -9.99998354e-01 2.19853294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68185806399998 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:132.29, Y:111.02, Z:2.20 [[-9.73714263e-01 2.27766690e-01 -1.69411152e-03 1.32291134e+02] [ 2.27765898e-01 9.73715705e-01 6.49219056e-04 1.11019384e+02] [ 1.79745347e-03 2.46293022e-04 -9.99998354e-01 2.19696851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71185806399998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:132.33, Y:111.05, Z:2.20 [[-9.88454483e-01 1.51507969e-01 -1.75196774e-03 1.32333000e+02] [ 1.51507519e-01 9.88456029e-01 3.87927983e-04 1.11048607e+02] [ 1.79051726e-03 1.18012868e-04 -9.99998390e-01 2.19770449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74185806399998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:132.27, Y:111.09, Z:2.20 [[-9.97173553e-01 7.51116993e-02 -1.77150361e-03 1.32273895e+02] [ 7.51113752e-02 9.97175120e-01 2.48865747e-04 1.11089087e+02] [ 1.78519206e-03 1.15102268e-04 -9.99998400e-01 2.19750276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77185806399999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:132.40, Y:111.12, Z:2.20 [[-9.99997995e-01 -9.17334185e-04 -1.78006540e-03 1.32398240e+02] [-9.17529879e-04 9.99999573e-01 1.09121869e-04 1.11120299e+02] [ 1.77996453e-03 1.10754914e-04 -9.99998410e-01 2.19815880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.801858064 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:132.13, Y:111.88, Z:1.19 [[-9.99368454e-01 3.54899104e-02 1.77768894e-03 1.32129445e+02] [-3.54899126e-02 -9.99370034e-01 3.03009027e-05 1.11883293e+02] [ 1.77764443e-03 -3.28082587e-05 9.99998419e-01 1.18874146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.831858064 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:131.71, Y:111.11, Z:2.20 [[-9.97388940e-01 -7.21951624e-02 -1.77768815e-03 1.31707987e+02] [-7.21952226e-02 9.97390520e-01 -3.03464235e-05 1.11113069e+02] [ 1.77524018e-03 9.80734049e-05 -9.99998419e-01 2.19798988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.861858064 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:132.34, Y:111.95, Z:1.19 [[-9.92944068e-01 1.18570508e-01 1.76436402e-03 1.32341413e+02] [-1.18570395e-01 -9.92945634e-01 1.69271853e-04 1.11945435e+02] [ 1.77198820e-03 -4.11238556e-05 9.99998429e-01 1.19057035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.891858064 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:132.44, Y:111.22, Z:2.19 [[-9.89807793e-01 -1.42398801e-01 -1.76475757e-03 1.32440918e+02] [-1.42398733e-01 9.89809362e-01 -1.65064315e-04 1.11219853e+02] [ 1.77027852e-03 8.79172959e-05 -9.99998429e-01 2.19481932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.921858064 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:132.30, Y:111.22, Z:2.20 [[-9.75768983e-01 -2.18796389e-01 -1.74111719e-03 1.32301087e+02] [-2.18796198e-01 9.75770533e-01 -3.01557846e-04 1.11224542e+02] [ 1.76491062e-03 8.66990300e-05 -9.99998439e-01 2.19622110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.951858064 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:132.26, Y:111.24, Z:2.20 [[-9.54805608e-01 -2.97226071e-01 -1.70717439e-03 1.32260169e+02] [-2.97225768e-01 9.54807129e-01 -4.34583759e-04 1.11241962e+02] [ 1.75919190e-03 9.24732087e-05 -9.99998448e-01 2.19835317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.981858064 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:131.98, Y:111.96, Z:1.19 [[-9.36327816e-01 3.51123143e-01 1.66122877e-03 1.31978468e+02] [-3.51122684e-01 -9.36329288e-01 5.69620974e-04 1.11958148e+02] [ 1.75546426e-03 -4.99431432e-05 9.99998458e-01 1.19020563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.011858064 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:132.36, Y:111.32, Z:2.20 [[-9.34659795e-01 -3.55539459e-01 -1.66122877e-03 1.32361590e+02] [-3.55539008e-01 9.34661270e-01 -5.69620974e-04 1.11321051e+02] [ 1.75520893e-03 5.82298061e-05 -9.99998458e-01 2.19781585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.041858064 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:132.15, Y:111.26, Z:2.20 [[-9.03800465e-01 -4.27951053e-01 -1.61731789e-03 1.32148748e+02] [-4.27950529e-01 9.03801908e-01 -6.74855214e-04 1.11258668e+02] [ 1.75053999e-03 8.21975903e-05 -9.99998464e-01 2.19729095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.071858064 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:131.34, Y:111.70, Z:1.19 [[-8.74843106e-01 4.84403884e-01 1.55467985e-03 1.31336031e+02] [-4.84403232e-01 -8.74844486e-01 7.97048994e-04 1.11697211e+02] [ 1.74619672e-03 -5.57991272e-05 9.99998474e-01 1.19069208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.101858064 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:131.43, Y:111.75, Z:1.19 [[-8.76035598e-01 4.82243938e-01 1.55403612e-03 1.31430474e+02] [-4.82243279e-01 -8.76036975e-01 7.98303583e-04 1.11745077e+02] [ 1.74637017e-03 -5.00811195e-05 9.99998474e-01 1.19049034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.131858064 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:132.00, Y:111.22, Z:2.20 [[-8.72386830e-01 -4.88813670e-01 -1.55403612e-03 1.31998582e+02] [-4.88813022e-01 8.72388212e-01 -7.98303583e-04 1.11218496e+02] [ 1.74594450e-03 6.32035613e-05 -9.99998474e-01 2.19674422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.161858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:132.08, Y:111.31, Z:2.20 [[-8.36190795e-01 -5.48436450e-01 -1.55403612e-03 1.32082105e+02] [-5.48435901e-01 8.36192218e-01 -7.98303583e-04 1.11310135e+02] [ 1.73729170e-03 1.84755094e-04 -9.99998474e-01 2.19590649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.191858064 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:131.34, Y:111.72, Z:1.19 [[-8.04368913e-01 5.94128467e-01 1.42041240e-03 1.31344870e+02] [-5.94127644e-01 -8.04370165e-01 9.90093097e-04 1.11715423e+02] [ 1.73077985e-03 -4.75061627e-05 9.99998501e-01 1.19156372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.221858064 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:131.18, Y:111.61, Z:1.19 [[-8.10138369e-01 5.86236988e-01 1.42007911e-03 1.31180338e+02] [-5.86236152e-01 -8.10139614e-01 9.90571022e-04 1.11605102e+02] [ 1.73117171e-03 -3.00021179e-05 9.99998501e-01 1.19093090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.251858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:131.84, Y:111.18, Z:2.20 [[-7.89904293e-01 -6.13228499e-01 -1.42007911e-03 1.31842093e+02] [-6.13227705e-01 7.89905564e-01 -9.90571022e-04 1.11179065e+02] [ 1.72917477e-03 8.83755486e-05 -9.99998501e-01 2.19982938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.281858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.49, Y:111.87, Z:1.19 [[-7.63274603e-01 6.46072831e-01 1.33345702e-03 1.31494448e+02] [-6.46071898e-01 -7.63275767e-01 1.09813986e-03 1.11867153e+02] [ 1.72727376e-03 -2.33268385e-05 9.99998508e-01 1.19007565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.311858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:131.84, Y:111.22, Z:2.20 [[-7.43472999e-01 -6.68764596e-01 -1.34728456e-03 1.31840272e+02] [-6.68763729e-01 7.43474213e-01 -1.08092428e-03 1.11218032e+02] [ 1.72455522e-03 9.73770267e-05 -9.99998508e-01 2.19977152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.341858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:131.40, Y:111.83, Z:1.19 [[-7.10725478e-01 7.03468361e-01 1.24883111e-03 1.31404900e+02] [-7.03467363e-01 -7.10726574e-01 1.18559323e-03 1.11832079e+02] [ 1.72160478e-03 -3.58806083e-05 9.99998517e-01 1.19023799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.371858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:131.82, Y:111.25, Z:2.20 [[-7.02894126e-01 -7.11293382e-01 -1.25423057e-03 1.31821758e+02] [-7.11292406e-01 7.02895242e-01 -1.17984456e-03 1.11247082e+02] [ 1.72080833e-03 6.28188726e-05 -9.99998517e-01 2.20044220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40185806399998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:131.71, Y:111.16, Z:2.20 [[-6.49304797e-01 -7.60527359e-01 -1.19046160e-03 1.31705710e+02] [-7.60526356e-01 6.49305881e-01 -1.23913395e-03 1.11155577e+02] [ 1.71536899e-03 1.00801800e-04 -9.99998524e-01 2.19754782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43185806399998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:131.13, Y:111.61, Z:1.19 [[-6.08399351e-01 7.93630313e-01 1.07542064e-03 1.31130994e+02] [-7.93629196e-01 -6.08400300e-01 1.33212572e-03 1.11610389e+02] [ 1.71150159e-03 -4.30207889e-05 9.99998534e-01 1.19167504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46185806399998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:131.63, Y:111.11, Z:2.20 [[-5.95811764e-01 -8.03123394e-01 -1.07542063e-03 1.31629579e+02] [-8.03122292e-01 5.95812730e-01 -1.33212572e-03 1.11106323e+02] [ 1.71061064e-03 6.99981088e-05 -9.99998534e-01 2.19695569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49185806399998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:131.10, Y:111.62, Z:1.19 [[-5.51514040e-01 8.34165035e-01 9.79114868e-04 1.31100487e+02] [-8.34163861e-01 -5.51514908e-01 1.39979714e-03 1.11615346e+02] [ 1.70765828e-03 -4.47344603e-05 9.99998541e-01 1.18894719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52185806399999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:131.18, Y:111.72, Z:1.19 [[-5.53042316e-01 8.33152591e-01 9.78795096e-04 1.31181734e+02] [-8.33151415e-01 -5.53043180e-01 1.40002203e-03 1.11724796e+02] [ 1.70774793e-03 -4.12130941e-05 9.99998541e-01 1.18899037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.551858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:131.18, Y:111.72, Z:1.19 [[-5.54104713e-01 8.32446399e-01 9.79181058e-04 1.31182358e+02] [-8.32445224e-01 -5.54105577e-01 1.39975037e-03 1.11722223e+02] [ 1.70778684e-03 -3.95063170e-05 9.99998541e-01 1.18921728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.581858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:131.18, Y:111.72, Z:1.19 [[-5.57427748e-01 8.30224875e-01 9.80886859e-04 1.31179849e+02] [-8.30223698e-01 -5.57428610e-01 1.39854898e-03 1.11718151e+02] [ 1.70788455e-03 -3.47655102e-05 9.99998541e-01 1.19327810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.611858064 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:131.68, Y:111.25, Z:2.20 [[-5.38802065e-01 -8.42431821e-01 -9.80886859e-04 1.31678434e+02] [-8.42430663e-01 5.38802953e-01 -1.39854898e-03 1.11249891e+02] [ 1.70668690e-03 7.27880907e-05 -9.99998541e-01 2.19560530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.641858064 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:131.08, Y:111.62, Z:1.19 [[-4.97749984e-01 8.67320108e-01 8.84810288e-04 1.31080707e+02] [-8.67318885e-01 -4.97750769e-01 1.45696784e-03 1.11616550e+02] [ 1.70407250e-03 -4.22069547e-05 9.99998547e-01 1.19049182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.671858064 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:131.08, Y:111.61, Z:1.19 [[-5.00032979e-01 8.66005913e-01 8.82337295e-04 1.31076799e+02] [-8.66004686e-01 -5.00033756e-01 1.45847244e-03 1.11610479e+02] [ 1.70424419e-03 -3.48239144e-05 9.99998547e-01 1.19388584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.701858064 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:131.60, Y:111.18, Z:2.20 [[-4.81658920e-01 -8.76358321e-01 -8.82337295e-04 1.31595308e+02] [-8.76357110e-01 4.81659723e-01 -1.45847244e-03 1.11181266e+02] [ 1.70313079e-03 7.07563025e-05 -9.99998547e-01 2.19505660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.51, Y:111.11, Z:2.20 [[-4.26832762e-01 -9.04330147e-01 -8.82337295e-04 1.31512120e+02] [-9.04328988e-01 4.26833638e-01 -1.45847244e-03 1.11106628e+02] [ 1.69555183e-03 1.75399375e-04 -9.99998547e-01 2.20134656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:111.02, Z:2.20 [[-3.58034692e-01 -9.33707867e-01 -8.82337295e-04 1.31445886e+02] [-9.33706777e-01 3.58035652e-01 -1.45847244e-03 1.11024411e+02] [ 1.67769540e-03 3.01660582e-04 -9.99998547e-01 2.19591248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.791858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:131.38, Y:110.93, Z:2.20 [[-2.93827822e-01 -9.55857956e-01 -8.82337295e-04 1.31379460e+02] [-9.55856933e-01 2.93828854e-01 -1.45847244e-03 1.10934792e+02] [ 1.65334864e-03 4.14848441e-04 -9.99998547e-01 2.19717514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.821858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.73, Y:111.11, Z:1.19 [[-2.49045576e-01 9.68491664e-01 4.46179332e-04 1.30727099e+02] [-9.68490373e-01 -2.49045972e-01 1.58152162e-03 1.11111173e+02] [ 1.64280967e-03 -3.82494247e-05 9.99998650e-01 1.19381993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.72, Y:111.07, Z:1.20 [[-2.48763951e-01 9.68564039e-01 4.47001791e-04 1.30716456e+02] [-9.68562749e-01 -2.48764349e-01 1.58128913e-03 1.11066224e+02] [ 1.64277789e-03 -3.95815523e-05 9.99998650e-01 1.19503822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:110.83, Z:2.20 [[-2.31051997e-01 -9.72941301e-01 -4.47001791e-04 1.31308547e+02] [-9.72940018e-01 2.31052419e-01 -1.58128913e-03 1.10832771e+02] [ 1.64178235e-03 6.95459192e-05 -9.99998650e-01 2.19641278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.25, Y:110.73, Z:2.20 [[-1.65063609e-01 -9.86282822e-01 -4.47001791e-04 1.31254638e+02] [-9.86281571e-01 1.65064117e-01 -1.58128913e-03 1.10734859e+02] [ 1.63338226e-03 1.79856338e-04 -9.99998650e-01 2.19805874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:110.82, Z:1.19 [[-1.14282336e-01 9.93448286e-01 2.27492491e-04 1.30604114e+02] [-9.93446978e-01 -1.14282555e-01 1.61226224e-03 1.10821769e+02] [ 1.62769758e-03 -4.17486326e-05 9.99998674e-01 1.19390304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:110.82, Z:1.19 [[-1.14287458e-01 9.93447696e-01 2.28251003e-04 1.30605366e+02] [-9.93446389e-01 -1.14287678e-01 1.61215485e-03 1.10819602e+02] [ 1.62767780e-03 -4.25060555e-05 9.99998674e-01 1.19382175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:110.82, Z:1.19 [[-1.14754019e-01 9.93393911e-01 2.29008622e-04 1.30604850e+02] [-9.93392604e-01 -1.14754239e-01 1.61204722e-03 1.10815596e+02] [ 1.62767761e-03 -4.25065745e-05 9.99998674e-01 1.19382857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:110.81, Z:1.19 [[-1.14263647e-01 9.93450435e-01 2.29765672e-04 1.30607555e+02] [-9.93449128e-01 -1.14263870e-01 1.61193931e-03 1.10813486e+02] [ 1.62763573e-03 -4.40744413e-05 9.99998674e-01 1.19443991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:110.81, Z:1.20 [[-1.14083780e-01 9.93471106e-01 2.30444760e-04 1.30608475e+02] [-9.93469799e-01 -1.14084004e-01 1.61184222e-03 1.10809611e+02] [ 1.62760874e-03 -4.50548558e-05 9.99998674e-01 1.19515365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:110.82, Z:1.19 [[-9.83809393e-02 9.95148802e-01 2.31123569e-04 1.30619895e+02] [-9.95147499e-01 -9.83811848e-02 1.61174488e-03 1.10820519e+02] [ 1.62666420e-03 -7.14370664e-05 9.99998674e-01 1.18938850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:110.80, Z:1.20 [[-1.11908010e-01 9.93718551e-01 1.96815783e-04 1.30612344e+02] [-9.93717236e-01 -1.11908182e-01 1.61665052e-03 1.10803131e+02] [ 1.62852091e-03 -1.46630929e-05 9.99998674e-01 1.19686002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:110.80, Z:1.20 [[-1.11387976e-01 9.93776969e-01 2.32173216e-04 1.30613664e+02] [-9.93775664e-01 -1.11388207e-01 1.61155666e-03 1.10801398e+02] [ 1.62738925e-03 -5.12200563e-05 9.99998675e-01 1.19723261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:110.80, Z:1.20 [[-1.11099916e-01 9.93809214e-01 2.32851666e-04 1.30614895e+02] [-9.93807909e-01 -1.11100148e-01 1.61145863e-03 1.10799933e+02] [ 1.62735228e-03 -5.23769094e-05 9.99998675e-01 1.19727864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:110.80, Z:1.20 [[-1.10965027e-01 9.93824284e-01 2.33529103e-04 1.30615932e+02] [-9.93822979e-01 -1.10965260e-01 1.61136045e-03 1.10797234e+02] [ 1.62732276e-03 -5.32819324e-05 9.99998675e-01 1.19708461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:110.79, Z:1.20 [[-1.10667587e-01 9.93857450e-01 2.34283124e-04 1.30619398e+02] [-9.93856145e-01 -1.10667822e-01 1.61125081e-03 1.10794936e+02] [ 1.62728122e-03 -5.45304828e-05 9.99998675e-01 1.19644754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:110.65, Z:1.19 [[-1.15279800e-01 9.93333032e-01 2.34884698e-04 1.30598184e+02] [-9.93331727e-01 -1.15280030e-01 1.61116311e-03 1.10648035e+02] [ 1.62749905e-03 -4.75838610e-05 9.99998675e-01 1.19336871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:110.60, Z:2.20 [[-1.09916873e-01 -9.93940756e-01 -2.34884698e-04 1.31173770e+02] [-9.93939451e-01 1.09917110e-01 -1.61116311e-03 1.10595959e+02] [ 1.62721852e-03 5.63671567e-05 -9.99998675e-01 2.19684028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:110.63, Z:1.20 [[-4.56485528e-02 9.98957554e-01 1.25482015e-04 1.30572147e+02] [-9.98956242e-01 -4.56486963e-02 1.61963912e-03 1.10634457e+02] [ 1.62367883e-03 -5.14168605e-05 9.99998681e-01 1.19551366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:110.48, Z:1.19 [[-4.64501438e-02 9.98920602e-01 1.26088013e-04 1.30561776e+02] [-9.98919290e-01 -4.64502872e-02 1.61959194e-03 1.10480213e+02] [ 1.62370058e-03 -5.07214702e-05 9.99998681e-01 1.19478759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:110.63, Z:1.19 [[-4.86187682e-02 9.98817401e-01 1.22845121e-04 1.30577063e+02] [-9.98816088e-01 -4.86189036e-02 1.61984543e-03 1.10629964e+02] [ 1.62390240e-03 -4.39447935e-05 9.99998681e-01 1.19442124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.421858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.58, Y:110.62, Z:1.19 [[-4.57538677e-02 9.98952735e-01 1.27625935e-04 1.30580724e+02] [-9.98951424e-01 -4.57540146e-02 1.61946867e-03 1.10623267e+02] [ 1.62361206e-03 -5.33951544e-05 9.99998681e-01 1.19307249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:110.61, Z:1.19 [[-5.02692586e-02 9.98735694e-01 1.19618326e-04 1.30580407e+02] [-9.98734381e-01 -5.02693865e-02 1.62010030e-03 1.10613297e+02] [ 1.62406514e-03 -3.80256941e-05 9.99998680e-01 1.19327896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:110.59, Z:1.19 [[-4.91406579e-02 9.98791860e-01 1.26856980e-04 1.30582056e+02] [-9.98790548e-01 -4.91407991e-02 1.61952533e-03 1.10593027e+02] [ 1.62380257e-03 -4.71190119e-05 9.99998681e-01 1.19166754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:110.61, Z:1.19 [[-5.60719368e-02 9.98426724e-01 1.21607073e-04 1.30584225e+02] [-9.98425410e-01 -5.60720604e-02 1.61994321e-03 1.10612732e+02] [ 1.62421335e-03 -3.05822380e-05 9.99998681e-01 1.19405626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:110.46, Z:1.19 [[-5.83535524e-02 9.98295971e-01 1.29695749e-04 1.30572574e+02] [-9.98294659e-01 -5.83536861e-02 1.61929536e-03 1.10456213e+02] [ 1.62410426e-03 -3.49829363e-05 9.99998681e-01 1.19301349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:110.38, Z:2.20 [[-2.98180721e-02 -9.99555334e-01 -1.29695748e-04 1.31109135e+02] [-9.99554026e-01 2.98182432e-02 -1.61929536e-03 1.10376445e+02] [ 1.62244261e-03 8.13536416e-05 -9.99998681e-01 2.19714310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:110.46, Z:1.20 [[ 2.14726801e-03 9.99997694e-01 1.87190289e-05 1.30541590e+02] [-9.99996381e-01 2.14723485e-03 1.62068614e-03 1.10460755e+02] [ 1.62064221e-03 -2.21990087e-05 9.99998687e-01 1.19677098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:110.46, Z:1.20 [[-1.91524813e-04 9.99999981e-01 2.08686511e-05 1.30543001e+02] [-9.99998668e-01 -1.91558380e-04 1.62065846e-03 1.10459566e+02] [ 1.62066242e-03 -2.05582270e-05 9.99998687e-01 1.19593624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:110.46, Z:1.20 [[-1.99417869e-03 9.99998011e-01 2.14812129e-05 1.30544418e+02] [-9.99996698e-01 -1.99421088e-03 1.62065034e-03 1.10456863e+02] [ 1.62068995e-03 -1.82492756e-05 9.99998687e-01 1.19583374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.691858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.55, Y:110.45, Z:1.20 [[-4.13586402e-03 9.99991447e-01 2.20934715e-05 1.30545355e+02] [-9.99990134e-01 -4.13589439e-03 1.62064199e-03 1.10449518e+02] [ 1.62071951e-03 -1.53904987e-05 9.99998687e-01 1.19505934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:110.44, Z:1.20 [[-4.62098012e-03 9.99989323e-01 2.27068334e-05 1.30544832e+02] [-9.99988010e-01 -4.62101085e-03 1.62063340e-03 1.10440142e+02] [ 1.62072102e-03 -1.52176464e-05 9.99998687e-01 1.19517507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:110.45, Z:1.20 [[-4.09057887e-03 9.99991633e-01 2.34779290e-05 1.30544086e+02] [-9.99990320e-01 -4.09061155e-03 1.62062223e-03 1.10447237e+02] [ 1.62070471e-03 -1.68484187e-05 9.99998687e-01 1.19540438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:110.45, Z:1.20 [[-3.49784325e-03 9.99993882e-01 2.40926957e-05 1.30543519e+02] [-9.99992569e-01 -3.49787770e-03 1.62061309e-03 1.10446061e+02] [ 1.62068745e-03 -1.84238661e-05 9.99998687e-01 1.19599414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:110.43, Z:1.20 [[-2.82875190e-03 9.99995999e-01 2.47049399e-05 1.30542486e+02] [-9.99994686e-01 -2.82878822e-03 1.62060375e-03 1.10430229e+02] [ 1.62066715e-03 -2.01205227e-05 9.99998687e-01 1.19561599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:110.31, Z:2.20 [[ 3.79312033e-02 -9.99280353e-01 -2.47049399e-05 1.31078189e+02] [-9.99279042e-01 -3.79311135e-02 -1.62060375e-03 1.10313684e+02] [ 1.61850040e-03 8.61585791e-05 -9.99998687e-01 2.19668279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:110.25, Z:1.20 [[ 6.95291117e-02 9.97579919e-01 -8.49539721e-05 1.30509870e+02] [-9.97578613e-01 6.95291581e-02 1.61487465e-03 1.10253322e+02] [ 1.61687330e-03 -2.75325343e-05 9.99998692e-01 1.19600566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:110.28, Z:2.20 [[ 1.11751347e-01 -9.93736197e-01 8.45407654e-05 1.31071790e+02] [-9.93734890e-01 -1.11751338e-01 -1.61489628e-03 1.10278223e+02] [ 1.61422843e-03 9.64557271e-05 -9.99998692e-01 2.19737370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:110.17, Z:1.20 [[ 1.50309765e-01 9.88638928e-01 -2.10022114e-04 1.30502430e+02] [-9.88637637e-01 1.50309908e-01 1.59840873e-03 1.10174884e+02] [ 1.61181750e-03 -3.26206741e-05 9.99998701e-01 1.19631807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:110.25, Z:2.20 [[ 1.85495726e-01 -9.82645049e-01 2.10220813e-04 1.31071273e+02] [-9.82643753e-01 -1.85495823e-01 -1.59838260e-03 1.10246975e+02] [ 1.60963783e-03 8.99209723e-05 -9.99998701e-01 2.19781187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:110.24, Z:2.20 [[ 2.60866502e-01 -9.65374827e-01 3.33621872e-04 1.31065754e+02] [-9.65373551e-01 -2.60866700e-01 -1.57219678e-03 1.10240009e+02] [ 1.60479003e-03 8.80637414e-05 -9.99998708e-01 2.19805863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:110.04, Z:1.20 [[ 3.07223938e-01 9.51637140e-01 -4.54292859e-04 1.30509056e+02] [-9.51635900e-01 3.07224271e-01 1.53651876e-03 1.10044149e+02] [ 1.60177811e-03 -3.97339485e-05 9.99998716e-01 1.19587475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:110.02, Z:1.20 [[ 3.08692671e-01 9.51161725e-01 -4.54723523e-04 1.30514195e+02] [-9.51160485e-01 3.08693004e-01 1.53639129e-03 1.10016730e+02] [ 1.60172656e-03 -4.17576858e-05 9.99998716e-01 1.19511248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:109.99, Z:1.19 [[ 3.09474881e-01 9.50907509e-01 -4.54856861e-04 1.30520867e+02] [-9.50906269e-01 3.09475213e-01 1.53635182e-03 1.09990346e+02] [ 1.60169540e-03 -4.29360548e-05 9.99998716e-01 1.19462516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:109.96, Z:1.19 [[ 3.10236714e-01 9.50659231e-01 -4.55041110e-04 1.30527742e+02] [-9.50657991e-01 3.10237045e-01 1.53629724e-03 1.09962698e+02] [ 1.60166576e-03 -4.40273412e-05 9.99998716e-01 1.19477001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:109.94, Z:1.19 [[ 3.10965780e-01 9.50421000e-01 -4.55463441e-04 1.30534267e+02] [-9.50419759e-01 3.10966110e-01 1.53617202e-03 1.09935848e+02] [ 1.60164385e-03 -4.48154782e-05 9.99998716e-01 1.19454006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:109.90, Z:1.19 [[ 3.10307940e-01 9.50635984e-01 -4.55887657e-04 1.30536989e+02] [-9.50634744e-01 3.10308271e-01 1.53604612e-03 1.09902089e+02] [ 1.60168643e-03 -4.32646598e-05 9.99998716e-01 1.19416107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:110.07, Z:2.20 [[ 3.31432190e-01 -9.43478938e-01 4.44279561e-04 1.31122084e+02] [-9.43477686e-01 -3.31432476e-01 -1.53946282e-03 1.10074585e+02] [ 1.59969942e-03 9.10596829e-05 -9.99998716e-01 2.20124918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:110.07, Z:2.20 [[ 4.02743448e-01 -9.15312734e-01 5.59944314e-04 1.31124507e+02] [-9.15311518e-01 -4.02743827e-01 -1.49521616e-03 1.10071531e+02] [ 1.59410451e-03 8.96650323e-05 -9.99998725e-01 2.20045190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:110.07, Z:2.20 [[ 4.73483145e-01 -8.80802613e-01 6.83994973e-04 1.31124404e+02] [-8.80801446e-01 -4.73483632e-01 -1.43613393e-03 1.10068783e+02] [ 1.58881094e-03 7.75214461e-05 -9.99998735e-01 2.19997993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.291858064 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:130.59, Y:109.73, Z:1.19 [[ 5.23592897e-01 8.51968222e-01 -7.91880534e-04 1.30594266e+02] [-8.51967115e-01 5.23593494e-01 1.37395392e-03 1.09725380e+02] [ 1.58518858e-03 -4.47363425e-05 9.99998743e-01 1.18951580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:110.06, Z:2.20 [[ 5.43615380e-01 -8.39334084e-01 7.83284077e-04 1.31172695e+02] [-8.39332957e-01 -5.43615937e-01 -1.37888925e-03 1.10058119e+02] [ 1.58315445e-03 9.21492623e-05 -9.99998743e-01 2.20036314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:110.06, Z:2.20 [[ 6.09471929e-01 -7.92807146e-01 8.93481407e-04 1.31173504e+02] [-7.92806079e-01 -6.09472577e-01 -1.30334579e-03 1.10056088e+02] [ 1.57785427e-03 8.59951829e-05 -9.99998752e-01 2.20136907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:110.05, Z:2.20 [[ 6.69724731e-01 -7.42608794e-01 9.81343227e-04 1.31177132e+02] [-7.42607778e-01 -6.69725443e-01 -1.23248421e-03 1.10050058e+02] [ 1.57248414e-03 9.66720436e-05 -9.99998759e-01 2.20041843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:110.05, Z:2.20 [[ 7.27078543e-01 -6.86553442e-01 1.07876361e-03 1.31180382e+02] [-6.86552501e-01 -7.27079337e-01 -1.14032300e-03 1.10045960e+02] [ 1.56723942e-03 8.84765292e-05 -9.99998768e-01 2.19989358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:110.04, Z:2.20 [[ 7.79430161e-01 -6.26488050e-01 1.16103895e-03 1.31183780e+02] [-6.26487177e-01 -7.79431020e-01 -1.04928496e-03 1.10042238e+02] [ 1.56231426e-03 9.04683334e-05 -9.99998776e-01 2.20044442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:110.04, Z:2.20 [[ 8.26720869e-01 -5.62610947e-01 1.23572823e-03 1.31187555e+02] [-5.62610148e-01 -8.26721788e-01 -9.52373820e-04 1.10036931e+02] [ 1.55741939e-03 9.21140712e-05 -9.99998783e-01 2.19804026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:110.03, Z:2.20 [[ 8.68966547e-01 -4.94869120e-01 1.30194700e-03 1.31191399e+02] [-4.94868397e-01 -8.68967517e-01 -8.50962459e-04 1.10034596e+02] [ 1.55246469e-03 9.51654859e-05 -9.99998790e-01 2.19939382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.531858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.20, Y:110.04, Z:2.20 [[ 9.05698836e-01 -4.23919535e-01 1.35876615e-03 1.31201382e+02] [-4.23918889e-01 -9.05699849e-01 -7.47088695e-04 1.10042609e+02] [ 1.54733979e-03 1.00630725e-04 -9.99998798e-01 2.19980473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:110.04, Z:2.20 [[ 9.36264751e-01 -3.51292369e-01 1.40993475e-03 1.31206139e+02] [-3.51291812e-01 -9.36265807e-01 -6.33142128e-04 1.10038285e+02] [ 1.54249170e-03 9.74901231e-05 -9.99998806e-01 2.19780392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.591858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.21, Y:110.04, Z:2.20 [[ 9.61082531e-01 -2.76257606e-01 1.45066603e-03 1.31210437e+02] [-2.76257136e-01 -9.61083620e-01 -5.19375840e-04 1.10035720e+02] [ 1.53769288e-03 9.84062053e-05 -9.99998813e-01 2.19831019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:110.04, Z:2.20 [[ 9.80117201e-01 -1.98413898e-01 1.48228151e-03 1.31215780e+02] [-1.98413514e-01 -9.80118317e-01 -4.03127075e-04 1.10035604e+02] [ 1.53279727e-03 1.01007097e-04 -9.99998820e-01 2.19745372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:110.03, Z:2.20 [[ 9.92898584e-01 -1.18954352e-01 1.50464034e-03 1.31219303e+02] [-1.18954056e-01 -9.92899719e-01 -2.85145121e-04 1.10031517e+02] [ 1.52787622e-03 1.04137116e-04 -9.99998827e-01 2.19579269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:110.03, Z:2.20 [[ 9.99185146e-01 -4.03327272e-02 1.52126352e-03 1.31217645e+02] [-4.03325755e-02 -9.99186302e-01 -1.30270835e-04 1.10025648e+02] [ 1.52527985e-03 6.88082072e-05 -9.99998834e-01 2.19691422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:110.03, Z:2.20 [[ 9.99244451e-01 3.88356075e-02 1.52381968e-03 1.31218281e+02] [ 3.88357234e-02 -9.99245608e-01 -4.64942167e-05 1.10025856e+02] [ 1.52086449e-03 1.05637728e-04 -9.99998838e-01 2.19817655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:110.03, Z:2.20 [[ 9.93032256e-01 1.17833077e-01 1.51810283e-03 1.31217874e+02] [ 1.17833102e-01 -9.93033411e-01 7.27696502e-05 1.10028105e+02] [ 1.51610150e-03 1.06620156e-04 -9.99998845e-01 2.19901746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:110.02, Z:2.20 [[ 9.80451484e-01 1.96755250e-01 1.50312659e-03 1.31219404e+02] [ 1.96755188e-01 -9.80452630e-01 1.90770902e-04 1.10023962e+02] [ 1.51127959e-03 1.08706340e-04 -9.99998852e-01 2.19685361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.22, Y:110.02, Z:2.20 [[ 9.61836979e-01 2.73619148e-01 1.47903452e-03 1.31220805e+02] [ 2.73618998e-01 -9.61838110e-01 3.06883432e-04 1.10018511e+02] [ 1.50656095e-03 1.09520110e-04 -9.99998859e-01 2.19684462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.831858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.22, Y:110.01, Z:2.20 [[ 9.37150011e-01 3.48923726e-01 1.44600637e-03 1.31221526e+02] [ 3.48923490e-01 -9.37151120e-01 4.20468483e-04 1.10014109e+02] [ 1.50183792e-03 1.10503546e-04 -9.99998866e-01 2.19694079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.861858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.22, Y:110.03, Z:2.20 [[ 9.06608375e-01 4.21970713e-01 1.40434104e-03 1.31217349e+02] [ 4.21970393e-01 -9.06609456e-01 5.30719476e-04 1.10026057e+02] [ 1.49713694e-03 1.11435618e-04 -9.99998873e-01 2.19802731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.891858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.21, Y:110.03, Z:2.20 [[ 8.70834622e-01 4.91574243e-01 1.35116502e-03 1.31213599e+02] [ 4.91573832e-01 -8.70835664e-01 6.43626613e-04 1.10034508e+02] [ 1.49303295e-03 1.03705029e-04 -9.99998880e-01 2.19807318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.921858064 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:131.21, Y:110.04, Z:2.20 [[ 8.28959074e-01 5.59307770e-01 1.29320263e-03 1.31205599e+02] [ 5.59307284e-01 -8.28960076e-01 7.45220402e-04 1.10043920e+02] [ 1.48882091e-03 1.05540436e-04 -9.99998886e-01 2.19726282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.951858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:131.20, Y:110.05, Z:2.20 [[ 7.83030673e-01 6.21981871e-01 1.23158854e-03 1.31202271e+02] [ 6.21981320e-01 -7.83031634e-01 8.35990802e-04 1.10048205e+02] [ 1.48434391e-03 1.11418624e-04 -9.99998892e-01 2.19856450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.981858064 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:131.20, Y:110.05, Z:2.20 [[ 7.31799817e-01 6.81518672e-01 1.15251188e-03 1.31196706e+02] [ 6.81518038e-01 -7.31800717e-01 9.34716845e-04 1.10052956e+02] [ 1.48043601e-03 1.01432022e-04 -9.99998899e-01 2.19803244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.011858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.19, Y:110.06, Z:2.20 [[ 6.76588306e-01 7.36360721e-01 1.07344514e-03 1.31190457e+02] [ 7.36360023e-01 -6.76589150e-01 1.01897685e-03 1.10055753e+02] [ 1.47661586e-03 1.01014269e-04 -9.99998905e-01 2.19869006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.041858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:131.18, Y:110.06, Z:2.20 [[ 6.16404989e-01 7.87428671e-01 9.88573675e-04 1.31183299e+02] [ 7.87427915e-01 -6.16405773e-01 1.09629622e-03 1.10058525e+02] [ 1.47261760e-03 1.02668046e-04 -9.99998910e-01 2.19818816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.071858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:131.18, Y:110.06, Z:2.20 [[ 5.53289295e-01 8.32988679e-01 9.03858864e-04 1.31180539e+02] [ 8.32987875e-01 -5.53290022e-01 1.16218117e-03 1.10056063e+02] [ 1.46817985e-03 1.09881075e-04 -9.99998916e-01 2.19837644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.101858064 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:131.17, Y:110.05, Z:2.20 [[ 4.87407987e-01 8.73173982e-01 8.07584382e-04 1.31174885e+02] [ 8.73173128e-01 -4.87408644e-01 1.22561836e-03 1.10054060e+02] [ 1.46380167e-03 1.07784805e-04 -9.99998923e-01 2.19806683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.131858064 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:131.17, Y:110.05, Z:2.20 [[ 4.17801224e-01 9.08538187e-01 7.06946611e-04 1.31172630e+02] [ 9.08537290e-01 -4.17801808e-01 1.28115088e-03 1.10051273e+02] [ 1.45933807e-03 1.07020952e-04 -9.99998929e-01 2.19812847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.161858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:131.17, Y:110.05, Z:2.20 [[ 3.45840009e-01 9.38293305e-01 6.02581688e-04 1.31174916e+02] [ 9.38292370e-01 -3.45840517e-01 1.32848917e-03 1.10046402e+02] [ 1.45490966e-03 1.05953093e-04 -9.99998936e-01 2.19669649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.191858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.18, Y:110.04, Z:2.20 [[ 2.72137812e-01 9.62258160e-01 4.95125484e-04 1.31175055e+02] [ 9.62257194e-01 -2.72138242e-01 1.36739833e-03 1.10040999e+02] [ 1.45053278e-03 1.04317268e-04 -9.99998943e-01 2.19789809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:110.04, Z:2.20 [[ 1.96627340e-01 9.80478220e-01 3.85349183e-04 1.31176465e+02] [ 9.80477230e-01 -1.96627691e-01 1.39766469e-03 1.10035620e+02] [ 1.44615011e-03 1.03007008e-04 -9.99998949e-01 2.19698194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.18, Y:110.03, Z:2.19 [[ 1.20353295e-01 9.92731086e-01 2.73843680e-04 1.31182579e+02] [ 9.92730077e-01 -1.20353564e-01 1.41918069e-03 1.10029921e+02] [ 1.44182285e-03 1.01049785e-04 -9.99998955e-01 2.19390095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:110.02, Z:2.20 [[ 4.28518510e-02 9.99081425e-01 1.61356566e-04 1.31190195e+02] [ 9.99080403e-01 -4.28520385e-02 1.43185692e-03 1.10023101e+02] [ 1.43745611e-03 9.98504634e-05 -9.99998962e-01 2.19656040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:110.03, Z:1.20 [[ 2.31686174e-02 -9.99731570e-01 -4.85065186e-05 1.31995413e+02] [ 9.99730540e-01 2.31686631e-02 -1.43566976e-03 1.10025231e+02] [ 1.43640821e-03 -1.52309648e-05 9.99998968e-01 1.20120084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:110.05, Z:1.20 [[ 2.44898980e-02 -9.99700076e-01 -5.33765851e-05 1.31995426e+02] [ 9.99699046e-01 2.44899494e-02 -1.43550774e-03 1.10051393e+02] [ 1.43638439e-03 -1.82050831e-05 9.99998968e-01 1.20460555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:110.08, Z:1.20 [[ 2.32411144e-02 -9.99729888e-01 -4.71541937e-05 1.31995695e+02] [ 9.99728857e-01 2.32411582e-02 -1.43571211e-03 1.10080465e+02] [ 1.43642022e-03 -1.37738588e-05 9.99998968e-01 1.20370688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:110.11, Z:1.20 [[ 2.38655064e-02 -9.99715177e-01 -5.45368236e-05 1.31997149e+02] [ 9.99714146e-01 2.38655601e-02 -1.43547114e-03 1.10106191e+02] [ 1.43636383e-03 -2.02629884e-05 9.99998968e-01 1.20435055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:110.13, Z:1.20 [[ 2.27397344e-02 -9.99741418e-01 -4.61802865e-05 1.31998515e+02] [ 9.99740387e-01 2.27397773e-02 -1.43573992e-03 1.10133332e+02] [ 1.43641880e-03 -1.35199530e-05 9.99998968e-01 1.20405994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46185806399998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:132.00, Y:110.16, Z:1.21 [[ 2.27683973e-02 -9.99740765e-01 -4.57605283e-05 1.32001676e+02] [ 9.99739735e-01 2.27684395e-02 -1.43575330e-03 1.10164583e+02] [ 1.43642300e-03 -1.30588168e-05 9.99998968e-01 1.20655572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.00, Y:110.19, Z:1.21 [[ 2.14742340e-02 -9.99769401e-01 -5.54173202e-05 1.32002013e+02] [ 9.99768370e-01 2.14742915e-02 -1.43544928e-03 1.10192851e+02] [ 1.43630832e-03 -2.45793101e-05 9.99998968e-01 1.20728338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.00, Y:110.22, Z:1.21 [[ 2.11409132e-02 -9.99776504e-01 -5.46283419e-05 1.32003435e+02] [ 9.99775474e-01 2.11409698e-02 -1.43547386e-03 1.10220360e+02] [ 1.43630794e-03 -2.42688481e-05 9.99998968e-01 1.20562921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:110.24, Z:1.21 [[ 1.70704954e-02 -9.99854287e-01 -5.49956951e-05 1.32000435e+02] [ 9.99853257e-01 1.70705567e-02 -1.43546245e-03 1.10244934e+02] [ 1.43619209e-03 -3.04835698e-05 9.99998968e-01 1.20614552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.581858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.00, Y:110.27, Z:1.21 [[ 1.60989536e-02 -9.99870403e-01 -4.39532725e-05 1.32001052e+02] [ 9.99869372e-01 1.60990001e-02 -1.43580048e-03 1.10271589e+02] [ 1.43632201e-03 -2.08326456e-05 9.99998968e-01 1.20513765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:110.30, Z:1.21 [[ 1.84113579e-02 -9.99830496e-01 -4.35234387e-05 1.32004996e+02] [ 9.99829465e-01 1.84114015e-02 -1.43581351e-03 1.10304733e+02] [ 1.43637146e-03 -1.70807399e-05 9.99998968e-01 1.20614762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:110.33, Z:1.20 [[ 1.92791388e-02 -9.99814138e-01 -6.00212739e-05 1.32005103e+02] [ 9.99813109e-01 1.92792051e-02 -1.43531102e-03 1.10329996e+02] [ 1.43620141e-03 -3.23384962e-05 9.99998968e-01 1.20488963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.01, Y:110.36, Z:1.20 [[ 1.97711770e-02 -9.99804530e-01 -5.27860456e-05 1.32007624e+02] [ 9.99803500e-01 1.97712324e-02 -1.43553277e-03 1.10360163e+02] [ 1.43629581e-03 -2.43935006e-05 9.99998968e-01 1.20347749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.701858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.00, Y:110.38, Z:1.20 [[ 1.62972399e-02 -9.99867189e-01 -6.23380858e-05 1.32002092e+02] [ 9.99866160e-01 1.62973126e-02 -1.43524380e-03 1.10384020e+02] [ 1.43606913e-03 -3.89392300e-05 9.99998968e-01 1.20393995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:110.41, Z:1.20 [[ 1.69607325e-02 -9.99856155e-01 -4.45277617e-05 1.32002575e+02] [ 9.99855125e-01 1.69607789e-02 -1.43576847e-03 1.10410960e+02] [ 1.43631717e-03 -2.01696258e-05 9.99998968e-01 1.20473883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.761858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.00, Y:110.44, Z:1.20 [[ 1.74891016e-02 -9.99847053e-01 -4.17497553e-05 1.32003141e+02] [ 9.99846022e-01 1.74891435e-02 -1.43584925e-03 1.10439000e+02] [ 1.43635981e-03 -1.66316134e-05 9.99998968e-01 1.20490718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:110.47, Z:1.21 [[ 1.73113099e-02 -9.99850147e-01 -3.98689926e-05 1.32003109e+02] [ 9.99849116e-01 1.73113493e-02 -1.43590341e-03 1.10465699e+02] [ 1.43637842e-03 -1.50056081e-05 9.99998968e-01 1.20589412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.821858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.00, Y:110.49, Z:1.21 [[ 1.79724824e-02 -9.99838481e-01 -4.23446445e-05 1.32003439e+02] [ 9.99837450e-01 1.79725247e-02 -1.43583296e-03 1.10492215e+02] [ 1.43636208e-03 -1.65322788e-05 9.99998968e-01 1.20596354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.851858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:132.00, Y:110.52, Z:1.21 [[ 1.81999857e-02 -9.99834366e-01 -4.04614770e-05 1.32003603e+02] [ 9.99833335e-01 1.82000251e-02 -1.43588602e-03 1.10520516e+02] [ 1.43638459e-03 -1.43216284e-05 9.99998968e-01 1.20688306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.881858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.00, Y:110.55, Z:1.21 [[ 1.83582123e-02 -9.99831473e-01 -4.00551704e-05 1.32003895e+02] [ 9.99830442e-01 1.83582509e-02 -1.43589736e-03 1.10547098e+02] [ 1.43639071e-03 -1.36878702e-05 9.99998968e-01 1.20705760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:110.57, Z:1.21 [[ 1.90320543e-02 -9.99818873e-01 -3.97275778e-05 1.32005229e+02] [ 9.99817842e-01 1.90320917e-02 -1.43590642e-03 1.10574332e+02] [ 1.43640244e-03 -1.23920922e-05 9.99998968e-01 1.20713788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:110.60, Z:1.21 [[ 1.90789728e-02 -9.99817979e-01 -3.74295118e-05 1.32005813e+02] [ 9.99816948e-01 1.90790068e-02 -1.43596909e-03 1.10600859e+02] [ 1.43642183e-03 -1.00258451e-05 9.99998968e-01 1.20663576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.971858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.01, Y:110.63, Z:1.21 [[ 2.02419729e-02 -9.99795110e-01 -3.68923404e-05 1.32005560e+02] [ 9.99794078e-01 2.02420050e-02 -1.43598355e-03 1.10627490e+02] [ 1.43643611e-03 -7.81760329e-06 9.99998968e-01 1.20739012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.001858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:132.01, Y:110.66, Z:1.20 [[ 2.45463668e-02 -9.99698692e-01 -3.51271696e-05 1.32012864e+02] [ 9.99697661e-01 2.45463919e-02 -1.43603119e-03 1.10663274e+02] [ 1.43646074e-03 1.32798847e-07 9.99998968e-01 1.20405888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:110.69, Z:1.20 [[ 2.32454153e-02 -9.99729787e-01 -6.85042843e-05 1.32012431e+02] [ 9.99728757e-01 2.32454897e-02 -1.43512572e-03 1.10689418e+02] [ 1.43633035e-03 -3.51256096e-05 9.99998968e-01 1.20293060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:110.71, Z:1.21 [[ 1.85103837e-02 -9.99828666e-01 -6.35068413e-05 1.32007486e+02] [ 9.99827637e-01 1.85104558e-02 -1.43526091e-03 1.10708797e+02] [ 1.43619054e-03 -3.69286649e-05 9.99998968e-01 1.20520566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:110.74, Z:1.21 [[ 1.77433394e-02 -9.99842574e-01 -3.49124995e-05 1.32008918e+02] [ 9.99841543e-01 1.77433713e-02 -1.43600692e-03 1.10735629e+02] [ 1.43640032e-03 -9.42740915e-06 9.99998968e-01 1.20512270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:110.76, Z:1.20 [[ 1.77948666e-02 -9.99841658e-01 -3.60814945e-05 1.32010249e+02] [ 9.99840627e-01 1.77949001e-02 -1.43597666e-03 1.10761477e+02] [ 1.43639135e-03 -1.05227309e-05 9.99998968e-01 1.20462624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:110.79, Z:1.21 [[ 1.68437784e-02 -9.99858133e-01 -3.09582242e-05 1.32011577e+02] [ 9.99857102e-01 1.68438055e-02 -1.43610843e-03 1.10790083e+02] [ 1.43642614e-03 -6.76430822e-06 9.99998968e-01 1.20603200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:110.82, Z:1.20 [[ 1.72514542e-02 -9.99851182e-01 -3.53705991e-05 1.32011896e+02] [ 9.99850151e-01 1.72514872e-02 -1.43599561e-03 1.10815314e+02] [ 1.43639211e-03 -1.05922863e-05 9.99998968e-01 1.20466820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:110.84, Z:1.20 [[ 1.64733568e-02 -9.99864305e-01 -3.01317311e-05 1.32012016e+02] [ 9.99863273e-01 1.64733831e-02 -1.43612749e-03 1.10844556e+02] [ 1.43642898e-03 -6.46977077e-06 9.99998968e-01 1.20344602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:110.87, Z:1.20 [[ 1.74071421e-02 -9.99848484e-01 -3.40003844e-05 1.32012295e+02] [ 9.99847452e-01 1.74071730e-02 -1.43603063e-03 1.10872288e+02] [ 1.43640490e-03 -8.99800860e-06 9.99998968e-01 1.20301293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.02, Y:110.91, Z:1.20 [[ 2.24797562e-02 -9.99747298e-01 -3.49011740e-05 1.32019799e+02] [ 9.99746266e-01 2.24797831e-02 -1.43600823e-03 1.10905929e+02] [ 1.43642992e-03 -2.61120350e-06 9.99998968e-01 1.20206745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:110.93, Z:1.20 [[ 1.81437858e-02 -9.99835386e-01 -5.83609249e-05 1.32014057e+02] [ 9.99834356e-01 1.81438509e-02 -1.43541453e-03 1.10927327e+02] [ 1.43623714e-03 -3.23074040e-05 9.99998968e-01 1.20342751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:110.95, Z:1.21 [[ 1.76496783e-02 -9.99844232e-01 -3.51960595e-05 1.32014105e+02] [ 9.99843201e-01 1.76497106e-02 -1.43598231e-03 1.10953425e+02] [ 1.43637983e-03 -9.84591511e-06 9.99998968e-01 1.20590769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.361858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.01, Y:110.98, Z:1.20 [[ 1.66851077e-02 -9.99860793e-01 -3.48125130e-05 1.32014569e+02] [ 9.99859762e-01 1.66851405e-02 -1.43599157e-03 1.10981505e+02] [ 1.43637253e-03 -1.08479569e-05 9.99998968e-01 1.20410851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.02, Z:1.20 [[ 2.10418837e-02 -9.99778594e-01 -3.64801905e-05 1.32022835e+02] [ 9.99777563e-01 2.10419144e-02 -1.43595165e-03 1.11015716e+02] [ 1.43640134e-03 -6.25694826e-06 9.99998968e-01 1.20022095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.421858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.02, Y:111.04, Z:1.20 [[ 2.02105285e-02 -9.99795744e-01 -6.47498893e-05 1.32023313e+02] [ 9.99794715e-01 2.02106006e-02 -1.43526028e-03 1.11041854e+02] [ 1.43627576e-03 -3.57292283e-05 9.99998968e-01 1.19984787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.06, Z:1.20 [[ 1.53268555e-02 -9.99882535e-01 -6.35334597e-05 1.32015893e+02] [ 9.99881506e-01 1.53269309e-02 -1.43528964e-03 1.11060763e+02] [ 1.43609481e-03 -4.15274545e-05 9.99998968e-01 1.20295649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.09, Z:1.20 [[ 1.51942361e-02 -9.99884560e-01 -3.30198032e-05 1.32016295e+02] [ 9.99883529e-01 1.51942679e-02 -1.43599128e-03 1.11087712e+02] [ 1.43632722e-03 -1.11971668e-05 9.99998968e-01 1.20456530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.511858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.02, Y:111.11, Z:1.20 [[ 1.56238331e-02 -9.99877940e-01 -3.06084593e-05 1.32015709e+02] [ 9.99876909e-01 1.56238609e-02 -1.43604603e-03 1.11114443e+02] [ 1.43634897e-03 -8.16814814e-06 9.99998968e-01 1.20449226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.541858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.02, Y:111.14, Z:1.20 [[ 1.56157394e-02 -9.99878066e-01 -3.22584340e-05 1.32015543e+02] [ 9.99877035e-01 1.56157697e-02 -1.43600897e-03 1.11141030e+02] [ 1.43633761e-03 -9.83012547e-06 9.99998968e-01 1.20475695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.17, Z:1.21 [[ 1.47959916e-02 -9.99890533e-01 -3.18059387e-05 1.32015705e+02] [ 9.99889502e-01 1.47960220e-02 -1.43601899e-03 1.11168390e+02] [ 1.43633240e-03 -1.05550993e-05 9.99998968e-01 1.20630474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.20, Z:1.21 [[ 1.37324720e-02 -9.99905705e-01 -3.13786761e-05 1.32016242e+02] [ 9.99904674e-01 1.37325029e-02 -1.43602833e-03 1.11196410e+02] [ 1.43632382e-03 -1.16554661e-05 9.99998968e-01 1.20794131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.22, Z:1.21 [[ 1.28250645e-02 -9.99917755e-01 -3.09825004e-05 1.32016731e+02] [ 9.99916724e-01 1.28250957e-02 -1.43603688e-03 1.11224165e+02] [ 1.43631612e-03 -1.25626548e-05 9.99998968e-01 1.20886593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.25, Z:1.21 [[ 1.16910108e-02 -9.99931657e-01 -3.05874585e-05 1.32017123e+02] [ 9.99930626e-01 1.16910426e-02 -1.43604529e-03 1.11250307e+02] [ 1.43630475e-03 -1.37965156e-05 9.99998968e-01 1.21022091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.28, Z:1.21 [[ 1.00296873e-02 -9.99949701e-01 -2.83718597e-05 1.32016383e+02] [ 9.99948670e-01 1.00297177e-02 -1.43609161e-03 1.11276934e+02] [ 1.43630393e-03 -1.39668536e-05 9.99998968e-01 1.20884017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.721858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.02, Y:111.30, Z:1.21 [[ 1.02090548e-02 -9.99947886e-01 -2.65674480e-05 1.32017991e+02] [ 9.99946855e-01 1.02090824e-02 -1.43612885e-03 1.11301970e+02] [ 1.43632523e-03 -1.19045180e-05 9.99998968e-01 1.21012915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.33, Z:1.21 [[ 9.04518403e-03 -9.99959091e-01 -2.31436347e-05 1.32019738e+02] [ 9.99958060e-01 9.04520794e-03 -1.43619969e-03 1.11333294e+02] [ 1.43635028e-03 -1.01519736e-05 9.99998968e-01 1.21046153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.36, Z:1.21 [[ 9.25143467e-03 -9.99957204e-01 -3.79051860e-05 1.32021238e+02] [ 9.99956173e-01 9.25147956e-03 -1.43590234e-03 1.11360519e+02] [ 1.43619157e-03 -2.46193681e-05 9.99998968e-01 1.20849728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.811858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:132.02, Y:111.38, Z:1.21 [[ 7.07489242e-03 -9.99974972e-01 -3.66466517e-05 1.32019769e+02] [ 9.99973941e-01 7.07493775e-03 -1.43592833e-03 1.11383825e+02] [ 1.43615166e-03 -2.64866583e-05 9.99998968e-01 1.21019288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.841858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:132.02, Y:111.41, Z:1.21 [[ 6.76141573e-03 -9.99977141e-01 -2.38008604e-05 1.32020117e+02] [ 9.99976110e-01 6.76144293e-03 -1.43618599e-03 1.11410762e+02] [ 1.43631409e-03 -1.40896413e-05 9.99998968e-01 1.21022648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.871858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:132.02, Y:111.44, Z:1.21 [[ 7.30226273e-03 -9.99973338e-01 -2.32558508e-05 1.32022454e+02] [ 9.99972307e-01 7.30228860e-03 -1.43619674e-03 1.11440148e+02] [ 1.43632827e-03 -1.27677208e-05 9.99998968e-01 1.20901824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.47, Z:1.21 [[ 2.53450119e-03 -9.99996788e-01 -3.02156868e-05 1.32019100e+02] [ 9.99995757e-01 2.53454197e-03 -1.43606141e-03 1.11465050e+02] [ 1.43613338e-03 -2.65758593e-05 9.99998968e-01 1.20978454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.50, Z:1.21 [[ 2.22671453e-03 -9.99997521e-01 -2.03763521e-05 1.32020860e+02] [ 9.99996489e-01 2.22674150e-03 -1.43624872e-03 1.11495333e+02] [ 1.43629053e-03 -1.71781647e-05 9.99998968e-01 1.20900546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96185806399998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:132.02, Y:111.52, Z:1.21 [[-5.25764393e-03 -9.99986178e-01 -2.82774112e-05 1.32019531e+02] [ 9.99985148e-01 -5.25759790e-03 -1.43610028e-03 1.11522425e+02] [ 1.43593176e-03 -3.58274951e-05 9.99998968e-01 1.20975244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.02, Y:111.55, Z:1.21 [[-5.13952471e-03 -9.99986792e-01 -2.66659529e-05 1.32021854e+02] [ 9.99985762e-01 -5.13948112e-03 -1.43613020e-03 1.11551903e+02] [ 1.43597418e-03 -3.40465998e-05 9.99998968e-01 1.20955074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.57, Z:1.21 [[-6.87991792e-03 -9.99976333e-01 -2.85720274e-05 1.32021158e+02] [ 9.99975302e-01 -6.87986980e-03 -1.43609491e-03 1.11574871e+02] [ 1.43586435e-03 -3.84515369e-05 9.99998968e-01 1.20924563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.60, Z:1.21 [[-8.10052975e-03 -9.99967190e-01 -1.45041519e-05 1.32021707e+02] [ 9.99966159e-01 -8.10050057e-03 -1.43634357e-03 1.11602536e+02] [ 1.43617896e-03 -2.61388050e-05 9.99998968e-01 1.21087133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.081858064 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:132.02, Y:111.63, Z:1.21 [[-8.39363823e-03 -9.99964773e-01 -1.94641874e-05 1.32019277e+02] [ 9.99963742e-01 -8.39360162e-03 -1.43625814e-03 1.11628384e+02] [ 1.43604417e-03 -3.15189129e-05 9.99998968e-01 1.21026721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.66, Z:1.21 [[-8.12863934e-03 -9.99966962e-01 -1.51755360e-05 1.32020105e+02] [ 9.99965931e-01 -8.12860916e-03 -1.43633066e-03 1.11661366e+02] [ 1.43615985e-03 -2.68504329e-05 9.99998968e-01 1.20908396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:111.69, Z:1.21 [[-7.65579008e-03 -9.99970693e-01 -3.61088765e-05 1.32019286e+02] [ 9.99969663e-01 -7.65573035e-03 -1.43601792e-03 1.11692575e+02] [ 1.43569940e-03 -4.71016329e-05 9.99998968e-01 1.20941695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.171858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:132.01, Y:111.72, Z:1.21 [[-9.68094314e-03 -9.99953138e-01 -4.26994647e-05 1.32013843e+02] [ 9.99952108e-01 -9.68087186e-03 -1.43592099e-03 1.11715500e+02] [ 1.43544033e-03 -5.65984892e-05 9.99998968e-01 1.20955788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.201858064 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:132.01, Y:111.74, Z:1.21 [[-5.07623707e-03 -9.99987116e-01 -2.21981939e-05 1.32012850e+02] [ 9.99986085e-01 -5.07619995e-03 -1.43621234e-03 1.11740330e+02] [ 1.43608116e-03 -2.94884393e-05 9.99998968e-01 1.21042305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.231858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:132.01, Y:111.77, Z:1.21 [[-3.88838336e-03 -9.99992440e-01 -1.16945295e-05 1.32012849e+02] [ 9.99991409e-01 -3.88836256e-03 -1.43635570e-03 1.11767815e+02] [ 1.43629937e-03 -1.72795307e-05 9.99998968e-01 1.21155325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.01, Y:111.80, Z:1.21 [[-2.81112839e-03 -9.99996049e-01 -1.40170430e-05 1.32011834e+02] [ 9.99995017e-01 -2.81110536e-03 -1.43632372e-03 1.11795658e+02] [ 1.43627864e-03 -1.80546635e-05 9.99998968e-01 1.21297031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.291858064 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:132.01, Y:111.83, Z:1.21 [[-7.59168678e-04 -9.99999712e-01 -1.95970266e-05 1.32014286e+02] [ 9.99998680e-01 -7.59139752e-04 -1.43624759e-03 1.11827394e+02] [ 1.43623230e-03 -2.06873550e-05 9.99998968e-01 1.21279147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:111.85, Z:1.21 [[-2.18948766e-03 -9.99997602e-01 -4.17608202e-05 1.32010975e+02] [ 9.99996572e-01 -2.18942544e-03 -1.43594388e-03 1.11852327e+02] [ 1.43584900e-03 -4.49046585e-05 9.99998968e-01 1.21318782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.01, Y:111.88, Z:1.21 [[-1.03325771e-03 -9.99999466e-01 -2.65958245e-05 1.32011167e+02] [ 9.99998435e-01 -1.03321845e-03 -1.43611787e-03 1.11882685e+02] [ 1.43608963e-03 -2.80796628e-05 9.99998968e-01 1.21339870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.381858064 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:132.01, Y:111.91, Z:1.21 [[-1.23833364e-03 -9.99999233e-01 -3.19061126e-05 1.32006615e+02] [ 9.99998202e-01 -1.23828655e-03 -1.43605760e-03 1.11905708e+02] [ 1.43601699e-03 -3.36843737e-05 9.99998968e-01 1.21429536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.411858064 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:132.01, Y:111.93, Z:1.21 [[-9.02648240e-04 -9.99999593e-01 -1.53831646e-05 1.32006685e+02] [ 9.99998561e-01 -9.02625218e-04 -1.43623457e-03 1.11933217e+02] [ 1.43622010e-03 -1.66795571e-05 9.99998969e-01 1.21423122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.441858064 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:132.01, Y:111.96, Z:1.21 [[-3.32347047e-04 -9.99999945e-01 -1.49595806e-05 1.32008906e+02] [ 9.99998913e-01 -3.32325221e-04 -1.43623899e-03 1.11963524e+02] [ 1.43623393e-03 -1.54368941e-05 9.99998969e-01 1.21482948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.471858064 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:132.01, Y:111.99, Z:1.21 [[-6.90102068e-04 -9.99999762e-01 -2.38829805e-05 1.32007022e+02] [ 9.99998731e-01 -6.90067059e-04 -1.43614614e-03 1.11987905e+02] [ 1.43612932e-03 -2.48740376e-05 9.99998968e-01 1.21450568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.501858064 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:132.01, Y:112.02, Z:1.21 [[-8.94137135e-04 -9.99999600e-01 -1.41512906e-05 1.32006175e+02] [ 9.99998569e-01 -8.94115891e-04 -1.43624203e-03 1.12015876e+02] [ 1.43622880e-03 -1.54354676e-05 9.99998969e-01 1.21436676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.531858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:132.01, Y:112.04, Z:1.21 [[-1.06939868e-03 -9.99999428e-01 -1.37573232e-05 1.32005868e+02] [ 9.99998397e-01 -1.06937783e-03 -1.43624580e-03 1.12044422e+02] [ 1.43623027e-03 -1.52932205e-05 9.99998969e-01 1.21368631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.561858064 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:132.01, Y:112.07, Z:1.21 [[-1.96366758e-03 -9.99998072e-01 -1.33733257e-05 1.32005411e+02] [ 9.99997041e-01 -1.96364635e-03 -1.43624938e-03 1.12071198e+02] [ 1.43622035e-03 -1.61936024e-05 9.99998969e-01 1.21313894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.591858064 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:132.00, Y:112.09, Z:1.21 [[-7.87688333e-03 -9.99968977e-01 -1.29122228e-05 1.32000046e+02] [ 9.99967946e-01 -7.87685667e-03 -1.43625353e-03 1.12092323e+02] [ 1.43610726e-03 -2.42250104e-05 9.99998969e-01 1.20914139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.621858064 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:132.00, Y:112.13, Z:1.21 [[-9.19823510e-03 -9.99957695e-01 1.84022605e-05 1.31999734e+02] [ 9.99956664e-01 -9.19825205e-03 -1.43637213e-03 1.12125175e+02] [ 1.43648063e-03 5.18937447e-06 9.99998968e-01 1.20959958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65185806399998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:132.00, Y:112.15, Z:1.21 [[-9.77912618e-03 -9.99952183e-01 -9.04090229e-06 1.32000382e+02] [ 9.99951152e-01 -9.77910312e-03 -1.43625422e-03 1.12150202e+02] [ 1.43609713e-03 -2.30857719e-05 9.99998969e-01 1.21087085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68185806399998 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:132.00, Y:112.18, Z:1.21 [[-1.24411665e-02 -9.99922606e-01 -5.63353782e-06 1.32000604e+02] [ 9.99921574e-01 -1.24411455e-02 -1.43626759e-03 1.12179818e+02] [ 1.43608634e-03 -2.35019401e-05 9.99998969e-01 1.21081125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71185806399998 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:132.00, Y:112.21, Z:1.21 [[-1.43430321e-02 -9.99897133e-01 -1.05692643e-05 1.32001039e+02] [ 9.99896102e-01 -1.43430021e-02 -1.43624941e-03 1.12205982e+02] [ 1.43595008e-03 -3.11683376e-05 9.99998969e-01 1.21183309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74185806399998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:132.00, Y:112.23, Z:1.21 [[-1.56552327e-02 -9.99877449e-01 -4.69280883e-06 1.32001519e+02] [ 9.99876418e-01 -1.56552098e-02 -1.43626861e-03 1.12233477e+02] [ 1.43601913e-03 -2.71773482e-05 9.99998969e-01 1.21209858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77185806399999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:132.00, Y:112.26, Z:1.21 [[-1.69826463e-02 -9.99855784e-01 -4.27454824e-06 1.32001600e+02] [ 9.99854753e-01 -1.69826226e-02 -1.43626986e-03 1.12261733e+02] [ 1.43599013e-03 -2.86655904e-05 9.99998969e-01 1.21369249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.801858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.00, Y:112.29, Z:1.21 [[-1.75554509e-02 -9.99845891e-01 -3.87640209e-06 1.32001858e+02] [ 9.99844860e-01 -1.75554272e-02 -1.43627093e-03 1.12288845e+02] [ 1.43598154e-03 -2.90901845e-05 9.99998969e-01 1.21452321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.00, Y:112.32, Z:1.22 [[-1.78413085e-02 -9.99840831e-01 -3.45659726e-06 1.32001298e+02] [ 9.99839800e-01 -1.78412852e-02 -1.43627194e-03 1.12316109e+02] [ 1.43598166e-03 -2.90810144e-05 9.99998969e-01 1.21539712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.861858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.00, Y:112.34, Z:1.21 [[-1.89339457e-02 -9.99820737e-01 -3.16913767e-06 1.32001153e+02] [ 9.99819706e-01 -1.89339216e-02 -1.43627258e-03 1.12344886e+02] [ 1.43595510e-03 -3.03628733e-05 9.99998969e-01 1.21491691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.891858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.00, Y:112.37, Z:1.22 [[-1.80082543e-02 -9.99837838e-01 -1.00061717e-05 1.32000770e+02] [ 9.99836807e-01 -1.80082214e-02 -1.43625818e-03 1.12369378e+02] [ 1.43584508e-03 -3.58690413e-05 9.99998969e-01 1.21694365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.921858064 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:132.00, Y:112.40, Z:1.22 [[-1.65137479e-02 -9.99863639e-01 -2.20607871e-06 1.32000314e+02] [ 9.99862608e-01 -1.65137277e-02 -1.43627016e-03 1.12396829e+02] [ 1.43603788e-03 -2.59239789e-05 9.99998969e-01 1.21773772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.951858064 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:132.00, Y:112.42, Z:1.22 [[-1.51760215e-02 -9.99884838e-01 -1.77239597e-06 1.32000139e+02] [ 9.99883806e-01 -1.51760033e-02 -1.43627069e-03 1.12423040e+02] [ 1.43607839e-03 -2.35690650e-05 9.99998969e-01 1.21753096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.981858064 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:132.00, Y:112.45, Z:1.22 [[-1.19661268e-02 -9.99928403e-01 -1.43554454e-06 1.31999746e+02] [ 9.99927372e-01 -1.19661124e-02 -1.43627103e-03 1.12449749e+02] [ 1.43615102e-03 -1.86220416e-05 9.99998969e-01 1.21731107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.011858064 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:132.00, Y:112.48, Z:1.22 [[-9.88045941e-03 -9.99951187e-01 -9.87852836e-07 1.31999482e+02] [ 9.99950156e-01 -9.88044781e-03 -1.43627134e-03 1.12476776e+02] [ 1.43619147e-03 -1.51788243e-05 9.99998969e-01 1.21785781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.041858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.00, Y:112.50, Z:1.22 [[-7.81024050e-03 -9.99969500e-01 -5.48193691e-07 1.31998785e+02] [ 9.99968468e-01 -7.81023166e-03 -1.43627151e-03 1.12503787e+02] [ 1.43622342e-03 -1.17658023e-05 9.99998969e-01 1.21808211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.071858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.00, Y:112.53, Z:1.22 [[-2.56284586e-03 -9.99996716e-01 -1.10696306e-07 1.31998765e+02] [ 9.99995684e-01 -2.56284306e-03 -1.43627154e-03 1.12530420e+02] [ 1.43626654e-03 -3.79163840e-06 9.99998969e-01 1.21862325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.101858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.00, Y:112.53, Z:1.22 [[ 2.13284373e-04 -9.99999977e-01 2.27888615e-07 1.31999350e+02] [ 9.99998946e-01 2.13283823e-04 -1.43627149e-03 1.12533066e+02] [ 1.43627140e-03 5.34222635e-07 9.99998969e-01 1.21882136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.131858064 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:132.00, Y:112.56, Z:1.22 [[ 2.53378862e-03 -9.99996790e-01 -1.18335996e-05 1.32000310e+02] [ 9.99995759e-01 2.53380300e-03 -1.43625001e-03 1.12559830e+02] [ 1.43627538e-03 -8.19439547e-06 9.99998969e-01 1.21820856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.161858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.00, Y:112.59, Z:1.22 [[ 6.30645157e-03 -9.99980114e-01 -1.03576260e-05 1.32003742e+02] [ 9.99979083e-01 6.30645994e-03 -1.43625116e-03 1.12590881e+02] [ 1.43628792e-03 -1.29976093e-06 9.99998969e-01 1.22122521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.191858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:132.00, Y:112.61, Z:1.22 [[ 7.72256121e-03 -9.99970180e-01 -1.91496886e-05 1.32002379e+02] [ 9.99969149e-01 7.72258075e-03 -1.43624534e-03 1.12613673e+02] [ 1.43635040e-03 -8.05760530e-06 9.99998968e-01 1.22219584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.64, Z:1.22 [[ 7.05246350e-03 -9.99975131e-01 -3.58234528e-08 1.32005365e+02] [ 9.99974100e-01 7.05245628e-03 -1.43624582e-03 1.12643519e+02] [ 1.43621035e-03 1.00932487e-05 9.99998969e-01 1.22117219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.00, Y:112.61, Z:1.22 [[-1.56135808e-03 -9.99998781e-01 -3.96289821e-06 1.32002939e+02] [ 9.99997750e-01 -1.56135078e-03 -1.43625555e-03 1.12609266e+02] [ 1.43624761e-03 -6.20539851e-06 9.99998969e-01 1.21832686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.281858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.00, Y:112.63, Z:1.22 [[-2.27239816e-03 -9.99997418e-01 8.94574042e-06 1.32004358e+02] [ 9.99996387e-01 -2.27240867e-03 -1.43621434e-03 1.12626596e+02] [ 1.43623096e-03 5.68205727e-06 9.99998969e-01 1.21750678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.61, Z:1.22 [[ 4.53084381e-03 -9.99989736e-01 1.80158004e-05 1.32011563e+02] [ 9.99988705e-01 4.53081327e-03 -1.43618210e-03 1.12611922e+02] [ 1.43608573e-03 2.45227137e-05 9.99998969e-01 1.22072596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.341858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.01, Y:112.61, Z:1.22 [[ 3.38100428e-03 -9.99994284e-01 4.85974620e-06 1.32013475e+02] [ 9.99993253e-01 3.38099381e-03 -1.43622662e-03 1.12605327e+02] [ 1.43620198e-03 9.71560176e-06 9.99998969e-01 1.22026005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.371858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.02, Y:112.60, Z:1.22 [[ 1.35791491e-03 -9.99999078e-01 5.40631503e-06 1.32015422e+02] [ 9.99998047e-01 1.35790574e-03 -1.43622456e-03 1.12601062e+02] [ 1.43621590e-03 7.35657521e-06 9.99998969e-01 1.22124231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.02, Y:112.60, Z:1.22 [[ 9.78482637e-04 -9.99999521e-01 5.95132130e-06 1.32015506e+02] [ 9.99998490e-01 9.78473078e-04 -1.43622230e-03 1.12598696e+02] [ 1.43621579e-03 7.35663089e-06 9.99998969e-01 1.22123870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.02, Y:112.61, Z:1.22 [[ 2.96008530e-03 -9.99995619e-01 6.49627041e-06 1.32016238e+02] [ 9.99994588e-01 2.96007292e-03 -1.43621984e-03 1.12613014e+02] [ 1.43619432e-03 1.07475685e-05 9.99998969e-01 1.22090006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.60, Z:1.22 [[-1.28785233e-03 -9.99999171e-01 -5.99877161e-06 1.32013828e+02] [ 9.99998139e-01 -1.28784239e-03 -1.43627715e-03 1.12599824e+02] [ 1.43626824e-03 -7.84847333e-06 9.99998969e-01 1.21850614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.60, Z:1.22 [[-1.50104859e-03 -9.99998873e-01 7.53750178e-06 1.32012810e+02] [ 9.99997842e-01 -1.50105786e-03 -1.43620611e-03 1.12601656e+02] [ 1.43621581e-03 5.38167037e-06 9.99998969e-01 1.21907878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.60, Z:1.22 [[-1.75405223e-03 -9.99998462e-01 4.57650911e-06 1.32011839e+02] [ 9.99997430e-01 -1.75405699e-03 -1.43622255e-03 1.12595435e+02] [ 1.43622836e-03 2.05728799e-06 9.99998969e-01 1.21865381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.59, Z:1.22 [[-1.93188997e-03 -9.99998134e-01 6.33881180e-06 1.32010168e+02] [ 9.99997103e-01 -1.93189708e-03 -1.43621225e-03 1.12590653e+02] [ 1.43622182e-03 3.56418940e-06 9.99998969e-01 1.21624287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.59, Z:1.22 [[-1.91359866e-03 -9.99998169e-01 8.75254784e-06 1.32009391e+02] [ 9.99997138e-01 -1.91360926e-03 -1.43619754e-03 1.12588325e+02] [ 1.43621166e-03 6.00421710e-06 9.99998969e-01 1.21565178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.59, Z:1.21 [[-1.45089125e-03 -9.99998947e-01 9.29847623e-06 1.32007968e+02] [ 9.99997916e-01 -1.45090311e-03 -1.43619401e-03 1.12586625e+02] [ 1.43620598e-03 7.21469554e-06 9.99998969e-01 1.21497200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.58, Z:1.21 [[-7.37324639e-05 -9.99999997e-01 9.84440322e-06 1.32005533e+02] [ 9.99998966e-01 -7.37465286e-05 -1.43619026e-03 1.12584011e+02] [ 1.43619099e-03 9.73849919e-06 9.99998969e-01 1.21359035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.59, Z:1.21 [[ 2.98453772e-04 -9.99999955e-01 1.03905102e-05 1.32005469e+02] [ 9.99998924e-01 2.98438539e-04 -1.43618631e-03 1.12591668e+02] [ 1.43618315e-03 1.08191342e-05 9.99998969e-01 1.21208080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.59, Z:1.21 [[-8.44292283e-05 -9.99999996e-01 1.08320603e-05 1.32005561e+02] [ 9.99998965e-01 -8.44447003e-05 -1.43618295e-03 1.12589300e+02] [ 1.43618386e-03 1.07107933e-05 9.99998969e-01 1.21207723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.60, Z:1.21 [[-2.44730654e-04 -9.99999970e-01 1.13829484e-05 1.32005306e+02] [ 9.99998939e-01 -2.44746752e-04 -1.43617853e-03 1.12598768e+02] [ 1.43618128e-03 1.10314594e-05 9.99998969e-01 1.21291149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.59, Z:1.21 [[-1.49319118e-03 -9.99998885e-01 1.08851061e-05 1.32005718e+02] [ 9.99997854e-01 -1.49320528e-03 -1.43618259e-03 1.12593630e+02] [ 1.43619724e-03 8.74058756e-06 9.99998969e-01 1.21232853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.58, Z:1.21 [[-5.57965672e-03 -9.99984434e-01 1.34665544e-05 1.32007184e+02] [ 9.99983402e-01 -5.57967031e-03 -1.43616090e-03 1.12575724e+02] [ 1.43621368e-03 5.45304614e-06 9.99998969e-01 1.21270201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.57, Z:1.21 [[-7.18315278e-03 -9.99974201e-01 1.26594633e-05 1.32007761e+02] [ 9.99973169e-01 -7.18316356e-03 -1.43616781e-03 1.12572021e+02] [ 1.43622169e-03 2.34291082e-06 9.99998969e-01 1.21221298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.57, Z:1.21 [[-8.60679270e-03 -9.99962961e-01 1.24719655e-05 1.32008174e+02] [ 9.99961929e-01 -8.60680174e-03 -1.43616944e-03 1.12565970e+02] [ 1.43622359e-03 1.10678083e-07 9.99998969e-01 1.21150939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.56, Z:1.21 [[-9.75111500e-03 -9.99952457e-01 1.30173390e-05 1.32007916e+02] [ 9.99951425e-01 -9.75112364e-03 -1.43616449e-03 1.12564347e+02] [ 1.43622315e-03 -9.87498420e-07 9.99998969e-01 1.21133929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.56, Z:1.21 [[-1.03375551e-02 -9.99946566e-01 1.35620846e-05 1.32007820e+02] [ 9.99945535e-01 -1.03375639e-02 -1.43615935e-03 1.12564107e+02] [ 1.43622281e-03 -1.28503052e-06 9.99998969e-01 1.21114260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.56, Z:1.21 [[-1.05727954e-02 -9.99944106e-01 1.41074541e-05 1.32008275e+02] [ 9.99943075e-01 -1.05728047e-02 -1.43615399e-03 1.12563189e+02] [ 1.43622288e-03 -1.07751128e-06 9.99998969e-01 1.21157653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.57, Z:1.21 [[-1.09472454e-02 -9.99940077e-01 1.46533652e-05 1.32009851e+02] [ 9.99939046e-01 -1.09472552e-02 -1.43614842e-03 1.12565656e+02] [ 1.43622278e-03 -1.06939725e-06 9.99998969e-01 1.21201536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.001858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:132.00, Y:112.53, Z:1.21 [[-3.56973045e-02 -9.99362648e-01 1.52007153e-05 1.31995320e+02] [ 9.99361617e-01 -3.56972895e-02 -1.43614263e-03 1.12532205e+02] [ 1.43576993e-03 -3.60754093e-05 9.99998969e-01 1.20908095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.56, Z:1.21 [[-1.03260709e-02 -9.99946682e-01 6.90771847e-05 1.32009578e+02] [ 9.99945653e-01 -1.03261595e-02 -1.43548664e-03 1.12557318e+02] [ 1.43612341e-03 5.42504937e-05 9.99998967e-01 1.21136964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.56, Z:1.21 [[-1.25322663e-02 -9.99921468e-01 1.57475918e-05 1.32010961e+02] [ 9.99920437e-01 -1.25322760e-02 -1.43607144e-03 1.12557727e+02] [ 1.43615602e-03 -2.25089080e-06 9.99998969e-01 1.20963752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:112.52, Z:1.21 [[-2.99280174e-02 -9.99552056e-01 1.62942819e-05 1.32000969e+02] [ 9.99551025e-01 -2.99280100e-02 -1.43606524e-03 1.12517628e+02] [ 1.43590962e-03 -2.66916193e-05 9.99998969e-01 1.20617540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:112.51, Z:1.20 [[-3.14996631e-02 -9.99503761e-01 5.19271752e-05 1.32000969e+02] [ 9.99502730e-01 -3.14997052e-02 -1.43561002e-03 1.12511202e+02] [ 1.43653330e-03 6.68012133e-06 9.99998968e-01 1.20487911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:112.52, Z:1.21 [[-3.69612303e-02 -9.99316699e-01 5.67992579e-05 1.31999521e+02] [ 9.99315668e-01 -3.69612738e-02 -1.43554650e-03 1.12523922e+02] [ 1.43666497e-03 3.70082343e-06 9.99998968e-01 1.20573151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:112.51, Z:1.20 [[-3.44898002e-02 -9.99405048e-01 6.30499699e-05 1.32002396e+02] [ 9.99404017e-01 -3.44898552e-02 -1.43546283e-03 1.12510316e+02] [ 1.43678338e-03 1.35035669e-05 9.99998968e-01 1.20421073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.54, Z:1.21 [[-2.09041199e-02 -9.99781484e-01 5.36171676e-05 1.32011298e+02] [ 9.99780453e-01 -2.09041754e-02 -1.43558767e-03 1.12543696e+02] [ 1.43639479e-03 2.35956993e-05 9.99998968e-01 1.20638925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.00, Y:112.52, Z:1.20 [[-3.98875859e-02 -9.99204173e-01 1.80362508e-05 1.32004334e+02] [ 9.99203142e-01 -3.98875707e-02 -1.43603456e-03 1.12520703e+02] [ 1.43561114e-03 -3.92580733e-05 9.99998969e-01 1.20305742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:112.50, Z:1.20 [[-5.07501351e-02 -9.98711380e-01 5.05316065e-05 1.31998126e+02] [ 9.98710349e-01 -5.07501553e-02 -1.43558611e-03 1.12500050e+02] [ 1.43630067e-03 -2.23897504e-05 9.99998968e-01 1.20412472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:112.51, Z:1.20 [[-4.13129916e-02 -9.99146251e-01 7.19502429e-05 1.32003200e+02] [ 9.99145221e-01 -4.13130523e-02 -1.43527473e-03 1.12510893e+02] [ 1.43702185e-03 1.25932484e-05 9.99998967e-01 1.20212416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:112.50, Z:1.20 [[-4.29299469e-02 -9.99078083e-01 5.32194403e-05 1.32003409e+02] [ 9.99077052e-01 -4.29299791e-02 -1.43554392e-03 1.12500280e+02] [ 1.43650518e-03 -8.45750284e-06 9.99998968e-01 1.20223795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.361858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.00, Y:112.50, Z:1.20 [[-4.52492736e-02 -9.98975726e-01 5.14832582e-05 1.32004912e+02] [ 9.98974694e-01 -4.52493009e-02 -1.43556941e-03 1.12498693e+02] [ 1.43642858e-03 -1.35280011e-05 9.99998968e-01 1.20183194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.50, Z:1.20 [[-4.60463969e-02 -9.98939301e-01 5.06901103e-05 1.32005493e+02] [ 9.98938269e-01 -4.60464222e-02 -1.43558121e-03 1.12497632e+02] [ 1.43639259e-03 -1.54670510e-05 9.99998968e-01 1.20248174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.50, Z:1.20 [[-4.98428657e-02 -9.98757071e-01 4.98069113e-05 1.32005058e+02] [ 9.98756039e-01 -4.98428858e-02 -1.43559444e-03 1.12502868e+02] [ 1.43629262e-03 -2.18091874e-05 9.99998968e-01 1.20404848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.53, Z:1.20 [[-3.28962455e-02 -9.99458771e-01 5.41361300e-05 1.32014955e+02] [ 9.99457740e-01 -3.28962894e-02 -1.43552916e-03 1.12530287e+02] [ 1.43653309e-03 6.88325450e-06 9.99998968e-01 1.20368909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.52, Z:1.20 [[-4.27082745e-02 -9.99087585e-01 2.09087249e-05 1.32008593e+02] [ 9.99086554e-01 -4.27082604e-02 -1.43601296e-03 1.12522550e+02] [ 1.43559569e-03 -4.04400097e-05 9.99998969e-01 1.20250351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.50, Z:1.21 [[-3.51212060e-02 -9.99383059e-01 4.62294894e-05 1.32012502e+02] [ 9.99382028e-01 -3.51212362e-02 -1.43561651e-03 1.12504766e+02] [ 1.43635445e-03 -4.21966234e-06 9.99998968e-01 1.20591776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.541858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.01, Y:112.53, Z:1.20 [[-3.63672861e-02 -9.99338491e-01 3.68351440e-05 1.32009638e+02] [ 9.99337460e-01 -3.63673015e-02 -1.43576250e-03 1.12530426e+02] [ 1.43615233e-03 -1.54040465e-05 9.99998969e-01 1.20165366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.51, Z:1.20 [[-3.04080207e-02 -9.99537568e-01 4.38890397e-05 1.32013036e+02] [ 9.99536537e-01 -3.04080524e-02 -1.43564959e-03 1.12506443e+02] [ 1.43632028e-03 2.13436325e-07 9.99998969e-01 1.20391983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.601858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.01, Y:112.50, Z:1.20 [[-2.80199472e-02 -9.99607364e-01 3.79090075e-05 1.32014240e+02] [ 9.99606332e-01 -2.80199727e-02 -1.43574596e-03 1.12496686e+02] [ 1.43624444e-03 -2.33544193e-06 9.99998969e-01 1.20434181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.51, Z:1.20 [[-2.88641823e-02 -9.99583342e-01 4.62581432e-05 1.32012920e+02] [ 9.99582311e-01 -2.88642190e-02 -1.43560854e-03 1.12508383e+02] [ 1.43634558e-03 4.80115512e-06 9.99998968e-01 1.20075338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.52, Z:1.20 [[-1.94463170e-02 -9.99810901e-01 4.97952454e-05 1.32017976e+02] [ 9.99809871e-01 -1.94463685e-02 -1.43554935e-03 1.12522015e+02] [ 1.43624623e-03 2.18696301e-05 9.99998968e-01 1.20135477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.49, Z:1.20 [[-2.29724873e-02 -9.99736097e-01 2.34122865e-05 1.32015018e+02] [ 9.99735066e-01 -2.29724972e-02 -1.43597950e-03 1.12494727e+02] [ 1.43613838e-03 -9.58193705e-06 9.99998969e-01 1.20383622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.52, Z:1.20 [[-1.67862900e-02 -9.99859100e-01 3.79476761e-05 1.32017737e+02] [ 9.99858069e-01 -1.67863272e-02 -1.43573483e-03 1.12516781e+02] [ 1.43616953e-03 1.38416289e-05 9.99998969e-01 1.20229984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.751858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.02, Y:112.49, Z:1.20 [[-2.14818967e-02 -9.99769237e-01 2.40655863e-05 1.32017190e+02] [ 9.99768206e-01 -2.14819092e-02 -1.43596748e-03 1.12489346e+02] [ 1.43615309e-03 -6.78729715e-06 9.99998969e-01 1.20395771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.02, Y:112.49, Z:1.21 [[-2.09705116e-02 -9.99780094e-01 3.80910071e-05 1.32019198e+02] [ 9.99779063e-01 -2.09705447e-02 -1.43572264e-03 1.12486614e+02] [ 1.43620571e-03 7.97475306e-06 9.99998969e-01 1.20578887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.02, Y:112.51, Z:1.20 [[-1.86778181e-02 -9.99825554e-01 3.66240753e-05 1.32020562e+02] [ 9.99824523e-01 -1.86778515e-02 -1.43574845e-03 1.12513057e+02] [ 1.43618205e-03 9.80100024e-06 9.99998969e-01 1.20272556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.50, Z:1.20 [[-2.81840043e-02 -9.99602752e-01 2.52318097e-05 1.32016429e+02] [ 9.99601720e-01 -2.81840115e-02 -1.43594863e-03 1.12501934e+02] [ 1.43608934e-03 -1.52490220e-05 9.99998969e-01 1.20115826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.50, Z:1.20 [[-2.94442788e-02 -9.99566422e-01 4.47649277e-05 1.32016640e+02] [ 9.99565391e-01 -2.94443127e-02 -1.43558869e-03 1.12495675e+02] [ 1.43628433e-03 2.47559877e-06 9.99998969e-01 1.20130991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.50, Z:1.20 [[-2.38137541e-02 -9.99716411e-01 4.33800132e-05 1.32018146e+02] [ 9.99715381e-01 -2.38137918e-02 -1.43561454e-03 1.12502615e+02] [ 1.43624046e-03 9.18029470e-06 9.99998969e-01 1.19905928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.02, Y:112.50, Z:1.20 [[-2.64114250e-02 -9.99651157e-01 2.65213588e-05 1.32018181e+02] [ 9.99650126e-01 -2.64114359e-02 -1.43592592e-03 1.12502880e+02] [ 1.43612548e-03 -1.14127702e-05 9.99998969e-01 1.19776264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.50, Z:1.20 [[-2.77724105e-02 -9.99614272e-01 2.70670001e-05 1.32017662e+02] [ 9.99613241e-01 -2.77724207e-02 -1.43591564e-03 1.12497165e+02] [ 1.43611348e-03 -1.28223068e-05 9.99998969e-01 1.20283193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.01, Y:112.49, Z:1.20 [[-3.72817977e-02 -9.99304792e-01 3.10876193e-05 1.32014145e+02] [ 9.99303760e-01 -3.72818039e-02 -1.43583817e-03 1.12486241e+02] [ 1.43599896e-03 -2.24646533e-05 9.99998969e-01 1.19737051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.49, Z:1.20 [[-3.37535524e-02 -9.99430186e-01 4.45537636e-05 1.32019099e+02] [ 9.99429155e-01 -3.37535816e-02 -1.43557052e-03 1.12489740e+02] [ 1.43625636e-03 -3.92727455e-06 9.99998969e-01 1.20331744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.48, Z:1.20 [[-3.53248243e-02 -9.99375883e-01 2.99607954e-05 1.32018387e+02] [ 9.99374852e-01 -3.53248309e-02 -1.43585961e-03 1.12479668e+02] [ 1.43602183e-03 -2.07794231e-05 9.99998969e-01 1.20370719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.081858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.02, Y:112.49, Z:1.20 [[-3.86031953e-02 -9.99254618e-01 2.94870030e-05 1.32016856e+02] [ 9.99253587e-01 -3.86031979e-02 -1.43586907e-03 1.12487403e+02] [ 1.43593709e-03 -2.59641405e-05 9.99998969e-01 1.19781921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.47, Z:1.20 [[-3.97939490e-02 -9.99207907e-01 2.87776506e-05 1.32018359e+02] [ 9.99206875e-01 -3.97939493e-02 -1.43588328e-03 1.12474065e+02] [ 1.43589111e-03 -2.83846399e-05 9.99998969e-01 1.20176497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.48, Z:1.20 [[-4.44231597e-02 -9.99012804e-01 2.69115278e-05 1.32015361e+02] [ 9.99011773e-01 -4.44231525e-02 -1.43592102e-03 1.12479725e+02] [ 1.43569898e-03 -3.69032157e-05 9.99998969e-01 1.19691086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.47, Z:1.20 [[-4.57965933e-02 -9.98950785e-01 2.93024669e-05 1.32015435e+02] [ 9.98949754e-01 -4.57965881e-02 -1.43587223e-03 1.12474414e+02] [ 1.43570764e-03 -3.64863643e-05 9.99998969e-01 1.19696357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.47, Z:1.20 [[-4.89088826e-02 -9.98803244e-01 2.98425664e-05 1.32016397e+02] [ 9.98802213e-01 -4.89088750e-02 -1.43586100e-03 1.12470002e+02] [ 1.43560219e-03 -4.04195359e-05 9.99998969e-01 1.19729916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.47, Z:1.20 [[-5.32272249e-02 -9.98582426e-01 3.03816932e-05 1.32015764e+02] [ 9.98581395e-01 -5.32272137e-02 -1.43584960e-03 1.12468264e+02] [ 1.43543131e-03 -4.60876958e-05 9.99998969e-01 1.20124407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.47, Z:1.20 [[-5.21729981e-02 -9.98638061e-01 4.67044184e-05 1.32017073e+02] [ 9.98637029e-01 -5.21730114e-02 -1.43549302e-03 1.12467285e+02] [ 1.43597468e-03 -2.82532132e-05 9.99998969e-01 1.19792960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.45, Z:1.20 [[-5.33751390e-02 -9.98574531e-01 3.10088000e-05 1.32018621e+02] [ 9.98573500e-01 -5.33751285e-02 -1.43583199e-03 1.12448182e+02] [ 1.43544036e-03 -4.56731663e-05 9.99998969e-01 1.20231638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.321858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.02, Y:112.46, Z:1.20 [[-5.67428888e-02 -9.98388824e-01 3.22220345e-05 1.32016939e+02] [ 9.98387793e-01 -5.67428765e-02 -1.43580539e-03 1.12457490e+02] [ 1.43532043e-03 -4.93016598e-05 9.99998969e-01 1.20098561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.47, Z:1.20 [[-5.00143676e-02 -9.98748498e-01 3.75110969e-05 1.32020970e+02] [ 9.98747466e-01 -5.00143699e-02 -1.43568799e-03 1.12465270e+02] [ 1.43576732e-03 -3.43409140e-05 9.99998969e-01 1.20411247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.46, Z:1.20 [[-5.26850833e-02 -9.98611176e-01 2.69530826e-05 1.32018759e+02] [ 9.98610145e-01 -5.26850676e-02 -1.43592181e-03 1.12458254e+02] [ 1.43534760e-03 -4.87360386e-05 9.99998969e-01 1.20034785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.45, Z:1.20 [[-5.34365532e-02 -9.98571246e-01 3.22388317e-05 1.32017081e+02] [ 9.98570215e-01 -5.34365444e-02 -1.43580313e-03 1.12453637e+02] [ 1.43547445e-03 -4.45316333e-05 9.99998969e-01 1.20087170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.45, Z:1.20 [[-5.26306071e-02 -9.98614048e-01 3.90925789e-05 1.32017271e+02] [ 9.98613017e-01 -5.26306090e-02 -1.43564565e-03 1.12446383e+02] [ 1.43571338e-03 -3.65205439e-05 9.99998969e-01 1.20017035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.46, Z:1.20 [[-4.67380365e-02 -9.98907180e-01 4.04642110e-05 1.32018996e+02] [ 9.98906149e-01 -4.67380464e-02 -1.43561370e-03 1.12455659e+02] [ 1.43593605e-03 -2.66778162e-05 9.99998969e-01 1.19821966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.46, Z:1.20 [[-4.61277419e-02 -9.98935549e-01 3.34705025e-05 1.32019367e+02] [ 9.98934517e-01 -4.61277424e-02 -1.43577673e-03 1.12455008e+02] [ 1.43579234e-03 -3.27942982e-05 9.99998969e-01 1.19839855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.45, Z:1.20 [[-4.58217504e-02 -9.98949631e-01 3.40103880e-05 1.32019977e+02] [ 9.98948600e-01 -4.58217520e-02 -1.43576394e-03 1.12451390e+02] [ 1.43581428e-03 -3.18145876e-05 9.99998969e-01 1.19866905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.561858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.01, Y:112.85, Z:1.20 [[-4.54915497e-02 -9.98964723e-01 3.45504460e-05 1.32011558e+02] [ 9.98963692e-01 -4.54915524e-02 -1.43575095e-03 1.12848230e+02] [ 1.43583630e-03 -3.07998945e-05 9.99998969e-01 1.20083025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.67, Z:1.20 [[-4.53724189e-02 -9.98970141e-01 3.78349415e-05 1.32017116e+02] [ 9.98969110e-01 -4.53724264e-02 -1.43567199e-03 1.12673659e+02] [ 1.43591011e-03 -2.73439731e-05 9.99998969e-01 1.20118239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.621858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.02, Y:112.45, Z:1.20 [[-4.55779645e-02 -9.98960784e-01 3.76133561e-05 1.32021676e+02] [ 9.98959753e-01 -4.55779715e-02 -1.43567742e-03 1.12452069e+02] [ 1.43589979e-03 -2.78610257e-05 9.99998969e-01 1.19945527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.02, Y:112.45, Z:1.20 [[-4.59552569e-02 -9.98943498e-01 3.55707660e-05 1.32021810e+02] [ 9.98942467e-01 -4.59552605e-02 -1.43572803e-03 1.12449704e+02] [ 1.43584584e-03 -3.04461017e-05 9.99998969e-01 1.19945267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68185806399998 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:132.01, Y:112.92, Z:1.20 [[-4.51942791e-02 -9.98978216e-01 3.61130189e-05 1.32009690e+02] [ 9.98977185e-01 -4.51942843e-02 -1.43571439e-03 1.12924862e+02] [ 1.43587950e-03 -2.88099949e-05 9.99998969e-01 1.20018527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.01, Y:112.84, Z:1.20 [[-5.40366178e-02 -9.98538954e-01 3.75489069e-05 1.32007904e+02] [ 9.98537923e-01 -5.40366160e-02 -1.43567800e-03 1.12838224e+02] [ 1.43560943e-03 -4.00851761e-05 9.99998969e-01 1.20071750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.54, Z:1.20 [[-5.14460243e-02 -9.98675775e-01 5.24869251e-05 1.32018328e+02] [ 9.98674744e-01 -5.14460467e-02 -1.43526466e-03 1.12544061e+02] [ 1.43606429e-03 -2.14212940e-05 9.99998969e-01 1.19917169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.02, Y:112.48, Z:1.20 [[-6.10627790e-02 -9.98133926e-01 4.82341595e-05 1.32015651e+02] [ 9.98132895e-01 -6.10627853e-02 -1.43538622e-03 1.12482217e+02] [ 1.43565299e-03 -3.95045700e-05 9.99998969e-01 1.19798098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.801858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:132.02, Y:112.46, Z:1.20 [[-4.92196578e-02 -9.98787976e-01 6.43384545e-05 1.32022627e+02] [ 9.98786945e-01 -4.92196994e-02 -1.43490768e-03 1.12460654e+02] [ 1.43633526e-03 -6.36525646e-06 9.99998968e-01 1.19739774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.831858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:132.02, Y:112.44, Z:1.20 [[-4.98429845e-02 -9.98757065e-01 4.20603116e-05 1.32022835e+02] [ 9.98756034e-01 -4.98429935e-02 -1.43556040e-03 1.12435433e+02] [ 1.43587251e-03 -2.95446250e-05 9.99998969e-01 1.19726272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.02, Y:112.43, Z:1.20 [[-4.99543961e-02 -9.98751499e-01 4.26048237e-05 1.32022578e+02] [ 9.98750468e-01 -4.99544058e-02 -1.43554424e-03 1.12431360e+02] [ 1.43588026e-03 -2.91601582e-05 9.99998969e-01 1.19653957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.43, Z:1.19 [[-5.00928924e-02 -9.98744562e-01 4.31444430e-05 1.32022052e+02] [ 9.98743531e-01 -5.00929026e-02 -1.43552803e-03 1.12432144e+02] [ 1.43588704e-03 -2.88195175e-05 9.99998969e-01 1.19445717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.43, Z:1.19 [[-5.00862019e-02 -9.98744898e-01 4.36844111e-05 1.32021999e+02] [ 9.98743866e-01 -5.00862129e-02 -1.43551159e-03 1.12429930e+02] [ 1.43589787e-03 -2.82697858e-05 9.99998969e-01 1.19390001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.43, Z:1.19 [[-4.98003681e-02 -9.98759191e-01 4.42249883e-05 1.32021730e+02] [ 9.98758160e-01 -4.98003803e-02 -1.43549494e-03 1.12425251e+02] [ 1.43591619e-03 -2.73181085e-05 9.99998969e-01 1.19376833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.42, Z:1.19 [[-4.97445032e-02 -9.98761975e-01 4.47652035e-05 1.32022451e+02] [ 9.98760944e-01 -4.97445162e-02 -1.43547809e-03 1.12423924e+02] [ 1.43592776e-03 -2.66974077e-05 9.99998969e-01 1.19423930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.42, Z:1.19 [[-5.03015540e-02 -9.98734075e-01 4.53049750e-05 1.32023225e+02] [ 9.98733043e-01 -5.03015672e-02 -1.43546106e-03 1.12420138e+02] [ 1.43592278e-03 -2.69583464e-05 9.99998969e-01 1.19463386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:112.65, Z:1.19 [[-4.89137716e-02 -9.98803004e-01 4.58447401e-05 1.32016951e+02] [ 9.98801973e-01 -4.89137870e-02 -1.43544382e-03 1.12652087e+02] [ 1.43596804e-03 -2.44231542e-05 9.99998969e-01 1.19456131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.28, Y:112.37, Z:2.21 [[-9.16470465e-02 9.95791553e-01 -4.13852215e-05 1.31281585e+02] [ 9.95790522e-01 9.16470113e-02 1.43558327e-03 1.12365324e+02] [ 1.43333453e-03 9.03559555e-05 -9.99998969e-01 2.20976219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.32, Y:112.34, Z:2.21 [[-1.69197073e-01 9.85582227e-01 -1.57703829e-04 1.31322103e+02] [ 9.85581204e-01 1.69197125e-01 1.42268947e-03 1.12335204e+02] [ 1.42886049e-03 8.52849652e-05 -9.99998976e-01 2.20848547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:112.31, Z:2.21 [[-2.46105262e-01 9.69243070e-01 -2.67897074e-04 1.31364306e+02] [ 9.69242060e-01 2.46105393e-01 1.40162793e-03 1.12311053e+02] [ 1.42444908e-03 8.52908987e-05 -9.99998982e-01 2.20779521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.161858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.41, Y:112.29, Z:2.21 [[-3.21223475e-01 9.47003346e-01 -3.75701582e-04 1.31408394e+02] [ 9.47002356e-01 3.21223683e-01 1.37210966e-03 1.12290982e+02] [ 1.42007668e-03 8.49635488e-05 -9.99998988e-01 2.20758267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:112.48, Z:2.21 [[-3.95495260e-01 9.18467892e-01 -4.80563907e-04 1.31367286e+02] [ 9.18466927e-01 3.95495543e-01 1.33434349e-03 1.12476515e+02] [ 1.41561254e-03 8.63444730e-05 -9.99998994e-01 2.20711552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.221858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.35, Y:112.57, Z:2.21 [[-4.66289444e-01 8.84632019e-01 -5.88631703e-04 1.31350951e+02] [ 8.84631088e-01 4.66289809e-01 1.28554796e-03 1.12572368e+02] [ 1.41170985e-03 7.87155373e-05 -9.99999000e-01 2.20791411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:112.27, Z:2.21 [[-5.34781406e-01 8.44990163e-01 -6.86902567e-04 1.31567671e+02] [ 8.44989269e-01 5.34781842e-01 1.23148564e-03 1.12273656e+02] [ 1.40793627e-03 7.81503241e-05 -9.99999006e-01 2.20758387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.281858064 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:131.28, Y:112.72, Z:2.21 [[-6.00783333e-01 7.99411528e-01 -7.71653470e-04 1.31281981e+02] [ 7.99410668e-01 6.00783822e-01 1.17586861e-03 1.12722428e+02] [ 1.40359984e-03 8.95742477e-05 -9.99999011e-01 2.20978930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:112.76, Z:1.20 [[-6.23311625e-01 -7.81973066e-01 8.61574853e-04 1.32249459e+02] [ 7.81972283e-01 -6.23312221e-01 -1.10620398e-03 1.12763273e+02] [ 1.40205185e-03 -1.57821476e-05 9.99999017e-01 1.19732971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:112.76, Z:1.20 [[-6.22627322e-01 -7.82518039e-01 8.58145042e-04 1.32254426e+02] [ 7.82517254e-01 -6.22627913e-01 -1.10885831e-03 1.12756725e+02] [ 1.40200669e-03 -1.88921798e-05 9.99999017e-01 1.19730241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.371858064 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:131.85, Y:113.28, Z:1.20 [[-6.20904688e-01 -7.83885598e-01 8.58564276e-04 1.31853052e+02] [ 7.83884814e-01 -6.20905282e-01 -1.10853361e-03 1.13276037e+02] [ 1.40205063e-03 -1.52782194e-05 9.99999017e-01 1.19615127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.63, Y:112.35, Z:2.21 [[-6.57008800e-01 7.53882417e-01 -8.58564276e-04 1.31627663e+02] [ 7.53881607e-01 6.57009356e-01 1.10853361e-03 1.12350385e+02] [ 1.39978876e-03 8.10605232e-05 -9.99999017e-01 2.20786509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.67, Y:112.36, Z:2.21 [[-7.14947544e-01 6.99177477e-01 -9.29945693e-04 1.31671920e+02] [ 6.99176703e-01 7.14948142e-01 1.04501202e-03 1.12356885e+02] [ 1.39551181e-03 9.69324105e-05 -9.99999022e-01 2.20869195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46185806399998 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:131.25, Y:112.77, Z:2.21 [[-7.68466433e-01 6.39889310e-01 -1.00583245e-03 1.31247130e+02] [ 6.39888589e-01 7.68467085e-01 9.65995782e-04 1.12769944e+02] [ 1.39107950e-03 9.87146273e-05 -9.99999028e-01 2.21054419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:113.14, Z:1.20 [[-7.76598907e-01 -6.29994425e-01 1.07781554e-03 1.32046440e+02] [ 6.29993813e-01 -7.76599655e-01 -8.78328852e-04 1.13135204e+02] [ 1.39037346e-03 -3.09210673e-06 9.99999033e-01 1.19566140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:112.38, Z:2.21 [[-8.06723770e-01 5.90927757e-01 -1.07021055e-03 1.31804012e+02] [ 5.90927096e-01 8.06724475e-01 8.87540508e-04 1.12376630e+02] [ 1.38783736e-03 8.35836140e-05 -9.99999033e-01 2.21204572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:112.40, Z:2.21 [[-8.56680308e-01 5.15846507e-01 -1.10944504e-03 1.31825481e+02] [ 5.15845855e-01 8.56681015e-01 8.32195656e-04 1.12397385e+02] [ 1.37972572e-03 1.40623009e-04 -9.99999038e-01 2.20897534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:112.41, Z:2.21 [[-8.94390522e-01 4.47285353e-01 -1.18639058e-03 1.31870002e+02] [ 4.47284813e-01 8.94391303e-01 7.02192132e-04 1.12414028e+02] [ 1.37517768e-03 9.73794973e-05 -9.99999050e-01 2.20867237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:112.43, Z:2.21 [[-9.22630793e-01 3.85682378e-01 -1.23396080e-03 1.31947496e+02] [ 3.85681912e-01 9.22631615e-01 6.05199738e-04 1.12426259e+02] [ 1.37190612e-03 8.24595535e-05 -9.99999056e-01 2.21049534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:112.45, Z:2.21 [[-9.52822788e-01 3.03524541e-01 -1.26028017e-03 1.31960975e+02] [ 3.03524090e-01 9.52823612e-01 5.39477753e-04 1.12453724e+02] [ 1.36456944e-03 1.31501304e-04 -9.99999060e-01 2.20860510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.00, Y:112.48, Z:2.21 [[-9.73505989e-01 2.28657806e-01 -1.30273509e-03 1.32004984e+02] [ 2.28657471e-01 9.73506856e-01 4.01843259e-04 1.12478671e+02] [ 1.36010614e-03 9.33167069e-05 -9.99999071e-01 2.20811953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:112.54, Z:2.21 [[-9.88420752e-01 1.51732195e-01 -1.32611941e-03 1.31868486e+02] [ 1.51731931e-01 9.88421637e-01 2.97664130e-04 1.12537330e+02] [ 1.35593035e-03 9.30027437e-05 -9.99999076e-01 2.20853022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.731858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:131.66, Y:112.59, Z:2.21 [[-9.97266816e-01 7.38721600e-02 -1.34230392e-03 1.31656750e+02] [ 7.38719779e-02 9.97267716e-01 1.84821642e-04 1.12586544e+02] [ 1.35228953e-03 8.51578451e-05 -9.99999082e-01 2.21055179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.761858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.10, Y:113.35, Z:1.20 [[-9.98811891e-01 -4.87133176e-02 1.34889857e-03 1.32102282e+02] [ 4.87132505e-02 -9.98812802e-01 -8.26190182e-05 1.13347835e+02] [ 1.35132181e-03 -1.68116239e-05 9.99999087e-01 1.19797481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:113.35, Z:1.20 [[-9.98642513e-01 -5.20702562e-02 1.34918715e-03 1.32127727e+02] [ 5.20701982e-02 -9.98643424e-01 -7.81045679e-05 1.13347253e+02] [ 1.35142380e-03 -7.74609983e-06 9.99999087e-01 1.19520486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.821858064 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:131.43, Y:113.39, Z:1.19 [[-9.98621784e-01 -5.24663185e-02 1.34867938e-03 1.31430225e+02] [ 5.24662501e-02 -9.98622694e-01 -8.60617436e-05 1.13392004e+02] [ 1.35133718e-03 -1.51829819e-05 9.99999087e-01 1.19250092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.78, Y:112.62, Z:2.21 [[-9.99967481e-01 7.95096777e-03 -1.34867938e-03 1.31782944e+02] [ 7.95085890e-03 9.99968388e-01 8.60617436e-05 1.12616637e+02] [ 1.34932102e-03 7.53357855e-05 -9.99999087e-01 2.20949544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.82, Y:112.65, Z:2.21 [[-9.97239427e-01 -7.42408804e-02 -1.34826253e-03 1.31822925e+02] [-7.42409411e-02 9.97240333e-01 -5.05512313e-06 1.12645168e+02] [ 1.34491707e-03 9.50551111e-05 -9.99999091e-01 2.20937047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.911858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.96, Y:113.45, Z:1.20 [[-9.95235226e-01 9.74938627e-02 1.33865644e-03 1.31963715e+02] [-9.74937897e-02 -9.95236126e-01 1.19842370e-04 1.13452287e+02] [ 1.34396315e-03 -1.12393411e-05 9.99999097e-01 1.19874718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.941858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:131.88, Y:112.68, Z:2.21 [[-9.89271864e-01 -1.46080066e-01 -1.33936091e-03 1.31876215e+02] [-1.46080049e-01 9.89272767e-01 -1.11370324e-04 1.12679579e+02] [ 1.34126225e-03 8.54783787e-05 -9.99999097e-01 2.20773643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.971858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:131.97, Y:112.73, Z:2.21 [[-9.77188525e-01 -2.12369551e-01 -1.32700510e-03 1.31969993e+02] [-2.12369491e-01 9.77189421e-01 -1.87360449e-04 1.12730629e+02] [ 1.33652500e-03 9.87289169e-05 -9.99999102e-01 2.20571621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.001858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.99, Y:112.77, Z:2.21 [[-9.57871130e-01 -2.87195419e-01 -1.29976804e-03 1.31989654e+02] [-2.87195270e-01 9.57872008e-01 -3.03865495e-04 1.12772918e+02] [ 1.33228020e-03 8.22232497e-05 -9.99999109e-01 2.20537638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.031858064 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:131.09, Y:113.32, Z:1.20 [[-9.47736159e-01 3.19052605e-01 1.26814247e-03 1.31088355e+02] [-3.19052351e-01 -9.47737007e-01 4.03307581e-04 1.13316705e+02] [ 1.33054188e-03 -2.23746581e-05 9.99999115e-01 1.19750914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.73, Y:113.52, Z:1.20 [[-9.48242439e-01 3.17544759e-01 1.26651884e-03 1.31725686e+02] [-3.17544496e-01 -9.48243284e-01 4.08405467e-04 1.13518651e+02] [ 1.33065500e-03 -1.49086900e-05 9.99999115e-01 1.20024268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:113.52, Z:1.20 [[-9.48389830e-01 3.17104278e-01 1.26811387e-03 1.31734477e+02] [-3.17104022e-01 -9.48390677e-01 4.03361376e-04 1.13521598e+02] [ 1.33057499e-03 -1.95801815e-05 9.99999115e-01 1.20043205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.72, Y:113.52, Z:1.20 [[-9.49035249e-01 3.15167393e-01 1.26888295e-03 1.31724086e+02] [-3.15167139e-01 -9.49036097e-01 4.00927332e-04 1.13518838e+02] [ 1.33057495e-03 -1.94160392e-05 9.99999115e-01 1.20141180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.81, Y:112.74, Z:2.21 [[-9.32117724e-01 -3.62153198e-01 -1.26903411e-03 1.31811065e+02] [-3.62152987e-01 9.32118583e-01 -4.00448314e-04 1.12742753e+02] [ 1.32791391e-03 8.63195220e-05 -9.99999115e-01 2.20531807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:112.77, Z:2.21 [[-9.00515390e-01 -4.34822393e-01 -1.23212149e-03 1.31788503e+02] [-4.34822125e-01 9.00516229e-01 -4.91840353e-04 1.12765849e+02] [ 1.32340860e-03 9.28438783e-05 -9.99999120e-01 2.20598109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21185806399998 meters Centerline goodness : 0.995944 Centerline is valid? [True, True] Translation: X:131.37, Y:112.56, Z:2.21 [[-8.61292015e-01 -5.08108905e-01 -1.18582271e-03 1.31370316e+02] [-5.08108578e-01 8.61292826e-01 -5.84684365e-04 1.12564270e+02] [ 1.31842393e-03 9.89427177e-05 -9.99999126e-01 2.20643764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.55, Y:112.70, Z:2.21 [[-8.24196359e-01 -5.66302884e-01 -1.18582271e-03 1.31545674e+02] [-5.66302614e-01 8.24197190e-01 -5.84684365e-04 1.12702172e+02] [ 1.30846019e-03 1.89639778e-04 -9.99999126e-01 2.20586275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:112.73, Z:2.21 [[-7.82869563e-01 -6.22184732e-01 -1.18582271e-03 1.31541672e+02] [-6.22184521e-01 7.82870411e-01 -5.84684365e-04 1.12729213e+02] [ 1.29212720e-03 2.80068943e-04 -9.99999126e-01 2.20626102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.301858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.46, Y:112.69, Z:2.21 [[-7.37268443e-01 -6.75598873e-01 -1.18582271e-03 1.31462548e+02] [-6.75598721e-01 7.37269303e-01 -5.84684365e-04 1.12692640e+02] [ 1.26928278e-03 3.70070978e-04 -9.99999126e-01 2.20668385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:112.88, Z:2.20 [[-6.89344440e-01 -7.24432769e-01 -1.18582271e-03 1.31609775e+02] [-7.24432676e-01 6.89345310e-01 -5.84684365e-04 1.12880434e+02] [ 1.24100584e-03 4.55999806e-04 -9.99999126e-01 2.20305074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:112.84, Z:2.20 [[-6.37534210e-01 -7.70421135e-01 -1.18582271e-03 1.31525649e+02] [-7.70421103e-01 6.37535083e-01 -5.84684365e-04 1.12836131e+02] [ 1.20645678e-03 5.40826558e-04 -9.99999126e-01 2.20458117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.44, Y:112.78, Z:2.20 [[-5.81843863e-01 -8.13299645e-01 -1.18582271e-03 1.31440074e+02] [-8.13299674e-01 5.81844737e-01 -5.84684365e-04 1.12781515e+02] [ 1.16548829e-03 6.24234217e-04 -9.99999126e-01 2.20339864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:112.71, Z:2.20 [[-5.23523816e-01 -8.52010216e-01 -1.18582271e-03 1.31356490e+02] [-8.52010306e-01 5.23524685e-01 -5.84684365e-04 1.12714937e+02] [ 1.11896452e-03 7.04236984e-04 -9.99999126e-01 2.20469687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:112.64, Z:2.20 [[-4.63789124e-01 -8.85944831e-01 -1.18582271e-03 1.31272891e+02] [-8.85944980e-01 4.63789985e-01 -5.84684365e-04 1.12635472e+02] [ 1.06797079e-03 7.79403432e-04 -9.99999126e-01 2.20498241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:112.57, Z:2.20 [[-4.04925854e-01 -9.14348755e-01 -1.18582271e-03 1.31200300e+02] [-9.14348961e-01 4.04926704e-01 -5.84684365e-04 1.12566323e+02] [ 1.01477670e-03 8.47501951e-04 -9.99999126e-01 2.20311942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.47, Y:112.88, Z:1.21 [[-4.08821308e-01 9.12614359e-01 4.13320027e-04 1.30473422e+02] [-9.12613886e-01 -4.08821517e-01 9.28549701e-04 1.12884375e+02] [ 1.01638191e-03 2.40930755e-06 9.99999483e-01 1.20501975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:112.47, Z:2.21 [[-3.43072420e-01 -9.39308865e-01 -4.13320027e-04 1.31126432e+02] [-9.39308409e-01 3.43072662e-01 -9.28549701e-04 1.12474832e+02] [ 1.01399377e-03 6.96751837e-05 -9.99999483e-01 2.20537261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:112.75, Z:1.20 [[-3.45468654e-01 9.38430225e-01 3.48720992e-04 1.30382525e+02] [-9.38429742e-01 -3.45468830e-01 9.52239111e-04 1.12748298e+02] [ 1.01408220e-03 1.71861387e-06 9.99999486e-01 1.20408939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.38, Y:112.74, Z:1.20 [[-3.46558109e-01 9.38028440e-01 3.49557175e-04 1.30379080e+02] [-9.38027957e-01 -3.46558285e-01 9.51932058e-04 1.12736771e+02] [ 1.01408128e-03 2.00537040e-06 9.99999486e-01 1.20370362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.631858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.38, Y:112.74, Z:1.20 [[-3.46354087e-01 9.38103792e-01 3.50011338e-04 1.30379753e+02] [-9.38103309e-01 -3.46354263e-01 9.51765040e-04 1.12738397e+02] [ 1.01408231e-03 1.30091714e-06 9.99999486e-01 1.20343031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:112.73, Z:1.20 [[-3.46343753e-01 9.38107607e-01 3.50512609e-04 1.30376802e+02] [-9.38107124e-01 -3.46343930e-01 9.51580398e-04 1.12728340e+02] [ 1.01408272e-03 7.55550697e-07 9.99999486e-01 1.20353749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:112.73, Z:1.20 [[-3.44190347e-01 9.38899825e-01 3.52049680e-04 1.30380268e+02] [-9.38899343e-01 -3.44190527e-01 9.51011398e-04 1.12733917e+02] [ 1.01407660e-03 -3.21027116e-06 9.99999486e-01 1.20427801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.721858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.38, Y:112.73, Z:1.20 [[-3.42517268e-01 9.39511468e-01 3.48884188e-04 1.30378668e+02] [-9.39510986e-01 -3.42517446e-01 9.52184221e-04 1.12729946e+02] [ 1.01408692e-03 -1.64098905e-06 9.99999486e-01 1.20332680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:112.72, Z:1.20 [[-3.45843874e-01 9.38292008e-01 3.49151577e-04 1.30372371e+02] [-9.38291525e-01 -3.45844050e-01 9.52084996e-04 1.12716961e+02] [ 1.01408574e-03 1.66679764e-06 9.99999486e-01 1.20389763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:112.74, Z:1.20 [[-3.40299849e-01 9.40316908e-01 3.53419036e-04 1.30383845e+02] [-9.40316428e-01 -3.40300032e-01 9.50498248e-04 1.12737681e+02] [ 1.01403808e-03 -8.87131534e-06 9.99999486e-01 1.20359911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:112.70, Z:1.20 [[-3.46315963e-01 9.38117868e-01 3.45975421e-04 1.30367473e+02] [-9.38117384e-01 -3.46316136e-01 9.53267848e-04 1.12703162e+02] [ 1.01409447e-03 5.56631576e-06 9.99999486e-01 1.20492237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.841858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.37, Y:112.70, Z:1.20 [[-3.46003271e-01 9.38233239e-01 3.54362532e-04 1.30366604e+02] [-9.38232758e-01 -3.46003453e-01 9.50139806e-04 1.12701954e+02] [ 1.01406341e-03 -3.72305462e-06 9.99999486e-01 1.20464109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:112.70, Z:1.21 [[-3.46304754e-01 9.38122003e-01 3.54862227e-04 1.30366781e+02] [-9.38121522e-01 -3.46304935e-01 9.49953141e-04 1.12701557e+02] [ 1.01406248e-03 -3.93060443e-06 9.99999486e-01 1.20549716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90185806399998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:130.36, Y:112.69, Z:1.21 [[-3.47671842e-01 9.37616214e-01 3.55360332e-04 1.30363100e+02] [-9.37615733e-01 -3.47672024e-01 9.49766772e-04 1.12693191e+02] [ 1.01406557e-03 -2.98427425e-06 9.99999486e-01 1.20645301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.36, Y:112.69, Z:1.21 [[-3.49337670e-01 9.36996833e-01 3.56223031e-04 1.30360668e+02] [-9.36996352e-01 -3.49337852e-01 9.49443095e-04 1.12686408e+02] [ 1.01406736e-03 -2.10344192e-06 9.99999486e-01 1.20747885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:112.73, Z:1.21 [[-3.41859673e-01 9.39750944e-01 3.57133915e-04 1.30378941e+02] [-9.39750465e-01 -3.41859859e-01 9.49100341e-04 1.12725471e+02] [ 1.01400769e-03 -1.11576309e-05 9.99999486e-01 1.20609942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:112.67, Z:1.21 [[-3.53395206e-01 9.35474058e-01 3.40469465e-04 1.30351241e+02] [-9.35473570e-01 -3.53395369e-01 9.55376176e-04 1.12670707e+02] [ 1.01404996e-03 1.91251743e-05 9.99999486e-01 1.20794240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.34, Y:112.66, Z:1.21 [[-3.54835622e-01 9.34928637e-01 3.53682867e-04 1.30344721e+02] [-9.34928154e-01 -3.54835798e-01 9.50385842e-04 1.12656178e+02] [ 1.01404228e-03 6.56268143e-06 9.99999486e-01 1.20881435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:112.67, Z:1.21 [[-3.58514705e-01 9.33524010e-01 3.58825241e-04 1.30348629e+02] [-9.33523528e-01 -3.58514885e-01 9.48440318e-04 1.12665456e+02] [ 1.01403600e-03 5.05799586e-06 9.99999486e-01 1.21080105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:112.66, Z:1.21 [[-3.60075011e-01 9.32923286e-01 3.59327119e-04 1.30348095e+02] [-9.32922804e-01 -3.60075190e-01 9.48250138e-04 1.12658350e+02] [ 1.01402942e-03 6.21671503e-06 9.99999486e-01 1.21000892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:112.64, Z:1.21 [[-3.63901335e-01 9.31437431e-01 3.59779862e-04 1.30342473e+02] [-9.31436949e-01 -3.63901513e-01 9.48078329e-04 1.12639813e+02] [ 1.01400008e-03 9.89471290e-06 9.99999486e-01 1.20829716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.02, Y:112.28, Z:2.20 [[-2.83062484e-01 -9.59101403e-01 -3.59779862e-04 1.31019735e+02] [-9.59100937e-01 2.83062702e-01 -9.48078329e-04 1.12278054e+02] [ 1.01114352e-03 7.66997966e-05 -9.99999486e-01 2.20005064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:112.50, Z:1.21 [[-3.00985107e-01 9.53628795e-01 2.95080670e-04 1.30259994e+02] [-9.53628304e-01 -3.00985252e-01 9.67804912e-04 1.12501310e+02] [ 1.01174156e-03 9.89758679e-06 9.99999488e-01 1.20994861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:112.50, Z:1.21 [[-3.01642170e-01 9.53421163e-01 2.95543436e-04 1.30259061e+02] [-9.53420672e-01 -3.01642315e-01 9.67663574e-04 1.12497712e+02] [ 1.01173934e-03 1.01109195e-05 9.99999488e-01 1.20988946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:112.50, Z:1.21 [[-3.02240293e-01 9.53231723e-01 2.96006631e-04 1.30258937e+02] [-9.53231232e-01 -3.02240438e-01 9.67521863e-04 1.12496317e+02] [ 1.01173771e-03 1.02613256e-05 9.99999488e-01 1.21226644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:112.49, Z:1.21 [[-3.02833286e-01 9.53043500e-01 2.96469261e-04 1.30257813e+02] [-9.53043009e-01 -3.02833431e-01 9.67380082e-04 1.12491287e+02] [ 1.01173610e-03 1.04069327e-05 9.99999488e-01 1.21234858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:112.57, Z:1.20 [[-2.73239862e-01 9.61945887e-01 2.96979107e-04 1.30300148e+02] [-9.61945401e-01 -2.73240023e-01 9.67223538e-04 1.12570745e+02] [ 1.01156328e-03 -2.13936601e-05 9.99999488e-01 1.20487594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:112.49, Z:1.21 [[-3.03238113e-01 9.52914783e-01 2.50154842e-04 1.30258089e+02] [-9.52914280e-01 -3.03238210e-01 9.81539675e-04 1.12485810e+02] [ 1.01118017e-03 5.92641177e-05 9.99999487e-01 1.21072510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:112.48, Z:1.21 [[-3.03345412e-01 9.52880618e-01 2.97913916e-04 1.30255897e+02] [-9.52880128e-01 -3.03345558e-01 9.66823345e-04 1.12475961e+02] [ 1.01163809e-03 9.40517513e-06 9.99999488e-01 1.21032228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.381858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:130.26, Y:112.48, Z:1.21 [[-3.02894872e-01 9.53023928e-01 2.98376212e-04 1.30256229e+02] [-9.53023438e-01 -3.02895019e-01 9.66680652e-04 1.12475140e+02] [ 1.01164646e-03 8.44308939e-06 9.99999488e-01 1.20982061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.411858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:130.29, Y:112.54, Z:1.20 [[-2.73545969e-01 9.61858884e-01 2.98934763e-04 1.30294514e+02] [-9.61858399e-01 -2.73546131e-01 9.66507896e-04 1.12538839e+02] [ 1.01141665e-03 -2.31485739e-05 9.99999488e-01 1.20303637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.25, Y:112.46, Z:1.21 [[-3.03707848e-01 9.52765174e-01 2.56470189e-04 1.30252716e+02] [-9.52764672e-01 -3.03707952e-01 9.79601800e-04 1.12462936e+02] [ 1.01122251e-03 5.31570198e-05 9.99999487e-01 1.21090579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.29, Y:112.52, Z:1.20 [[-2.73968563e-01 9.61738601e-01 2.99979616e-04 1.30290467e+02] [-9.61738116e-01 -2.73968726e-01 9.66091758e-04 1.12524272e+02] [ 1.01131277e-03 -2.38230604e-05 9.99999488e-01 1.20411174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.501858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.29, Y:112.53, Z:1.20 [[-2.72248769e-01 9.62226867e-01 2.53089531e-04 1.30294366e+02] [-9.62226368e-01 -2.72248886e-01 9.80546584e-04 1.12530093e+02] [ 1.01241161e-03 2.34231803e-05 9.99999487e-01 1.20278247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.25, Y:112.46, Z:1.21 [[-3.06851833e-01 9.51757264e-01 2.49463184e-04 1.30252240e+02] [-9.51756760e-01 -3.06851928e-01 9.81669614e-04 1.12457549e+02] [ 1.01085945e-03 6.37988489e-05 9.99999487e-01 1.21103511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.561858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.25, Y:112.45, Z:1.21 [[-3.08215644e-01 9.51316470e-01 3.01335777e-04 1.30250871e+02] [-9.51315980e-01 -3.08215791e-01 9.65479665e-04 1.12450777e+02] [ 1.01135315e-03 1.09103969e-05 9.99999489e-01 1.21051296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.591858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.29, Y:112.51, Z:1.20 [[-2.76108393e-01 9.61126456e-01 3.01844819e-04 1.30291974e+02] [-9.61125971e-01 -2.76108557e-01 9.65320493e-04 1.12512153e+02] [ 1.01113700e-03 -2.35778046e-05 9.99999489e-01 1.19999748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.29, Y:112.51, Z:1.20 [[-2.77653627e-01 9.60681217e-01 2.51648005e-04 1.30292486e+02] [-9.60680717e-01 -2.77653739e-01 9.80897696e-04 1.12511675e+02] [ 1.01220100e-03 3.05964172e-05 9.99999487e-01 1.20062503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.29, Y:112.50, Z:1.20 [[-2.79815448e-01 9.60053776e-01 2.48977492e-04 1.30289561e+02] [-9.60053275e-01 -2.79815556e-01 9.81728823e-04 1.12495130e+02] [ 1.01218024e-03 3.56712340e-05 9.99999487e-01 1.20044608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.29, Y:112.50, Z:1.20 [[-2.81179177e-01 9.59655255e-01 2.47929079e-04 1.30289976e+02] [-9.59654754e-01 -2.81179283e-01 9.82055848e-04 1.12495507e+02] [ 1.01214758e-03 3.82073352e-05 9.99999487e-01 1.20096697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.29, Y:112.50, Z:1.20 [[-2.82049081e-01 9.59399944e-01 2.50857208e-04 1.30289430e+02] [-9.59399443e-01 -2.82049191e-01 9.81141119e-04 1.12495192e+02] [ 1.01206081e-03 3.60576857e-05 9.99999487e-01 1.20200639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.29, Y:112.50, Z:1.20 [[-2.88264357e-01 9.57550833e-01 2.49361077e-04 1.30285229e+02] [-9.57550331e-01 -2.88264461e-01 9.81608901e-04 1.12498724e+02] [ 1.01182236e-03 4.41870763e-05 9.99999487e-01 1.20372984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77185806399999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.28, Y:112.48, Z:1.20 [[-2.81056781e-01 9.59691106e-01 2.60175942e-04 1.30284699e+02] [-9.59690607e-01 -2.81056901e-01 9.78217136e-04 1.12482565e+02] [ 1.01191053e-03 2.52461518e-05 9.99999488e-01 1.20310985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:112.48, Z:1.20 [[-2.82242175e-01 9.59343155e-01 2.54975856e-04 1.30283822e+02] [-9.59342656e-01 -2.82242288e-01 9.79850859e-04 1.12478243e+02] [ 1.01197818e-03 3.19460228e-05 9.99999487e-01 1.20296180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.831858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.28, Y:112.47, Z:1.20 [[-2.82925743e-01 9.59141782e-01 2.55597172e-04 1.30279568e+02] [-9.59141282e-01 -2.82925857e-01 9.79655152e-04 1.12465589e+02] [ 1.01194324e-03 3.20158627e-05 9.99999487e-01 1.20246982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:112.48, Z:1.20 [[-2.82607912e-01 9.59235478e-01 2.57916162e-04 1.30281766e+02] [-9.59234979e-01 -2.82608028e-01 9.78923326e-04 1.12475539e+02] [ 1.01190716e-03 2.92492726e-05 9.99999488e-01 1.20209297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:112.48, Z:1.20 [[-2.79377162e-01 9.60181407e-01 2.58039550e-04 1.30280076e+02] [-9.60180909e-01 -2.79377280e-01 9.78884339e-04 1.12475112e+02] [ 1.01199693e-03 2.57132792e-05 9.99999488e-01 1.19991401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.27, Y:112.46, Z:1.20 [[-2.84546434e-01 9.58662227e-01 2.48851294e-04 1.30272877e+02] [-9.58661725e-01 -2.84546540e-01 9.81793184e-04 1.12459171e+02] [ 1.01201781e-03 4.08015381e-05 9.99999487e-01 1.20318777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.27, Y:112.46, Z:1.21 [[-2.83652218e-01 9.58927189e-01 2.57256890e-04 1.30268809e+02] [-9.58926689e-01 -2.83652333e-01 9.79124411e-04 1.12460300e+02] [ 1.01188054e-03 3.10403129e-05 9.99999488e-01 1.20549404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.981858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.27, Y:112.47, Z:1.21 [[-2.84309862e-01 9.58732410e-01 2.63229190e-04 1.30270421e+02] [-9.58731912e-01 -2.84309982e-01 9.77224359e-04 1.12465043e+02] [ 1.01173535e-03 2.54682977e-05 9.99999488e-01 1.20639037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.011858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.27, Y:112.46, Z:1.20 [[-2.81756883e-01 9.59485796e-01 2.56310685e-04 1.30268677e+02] [-9.59485297e-01 -2.81756998e-01 9.79426698e-04 1.12464293e+02] [ 1.01196333e-03 3.00338799e-05 9.99999488e-01 1.20494182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.27, Y:112.46, Z:1.21 [[-2.84976966e-01 9.58534332e-01 2.53521696e-04 1.30265708e+02] [-9.58533831e-01 -2.84977076e-01 9.80315883e-04 1.12456996e+02] [ 1.01191430e-03 3.63583233e-05 9.99999487e-01 1.20653837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:112.45, Z:1.21 [[-2.87055599e-01 9.57913889e-01 2.54589351e-04 1.30263254e+02] [-9.57913388e-01 -2.87055709e-01 9.79974645e-04 1.12449462e+02] [ 1.01181265e-03 3.74326609e-05 9.99999487e-01 1.20623661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:112.44, Z:1.21 [[-2.90626802e-01 9.56836452e-01 2.55338255e-04 1.30256190e+02] [-9.56835952e-01 -2.90626911e-01 9.79734648e-04 1.12443616e+02] [ 1.01165399e-03 4.04203257e-05 9.99999487e-01 1.20865047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.25, Y:112.43, Z:1.21 [[-2.89288372e-01 9.57241960e-01 2.60028362e-04 1.30252536e+02] [-9.57241461e-01 -2.89288487e-01 9.78225834e-04 1.12425148e+02] [ 1.01162203e-03 3.40794301e-05 9.99999488e-01 1.20692914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.25, Y:112.43, Z:1.21 [[-2.92580449e-01 9.56240877e-01 2.57643179e-04 1.30251212e+02] [-9.56240376e-01 -2.92580560e-01 9.78994890e-04 1.12426335e+02] [ 1.01153632e-03 4.00659542e-05 9.99999488e-01 1.20860621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.25, Y:112.42, Z:1.21 [[-2.94011798e-01 9.55801755e-01 2.61513605e-04 1.30246983e+02] [-9.55801255e-01 -2.94011912e-01 9.77744509e-04 1.12423983e+02] [ 1.01141803e-03 3.75133890e-05 9.99999488e-01 1.20826231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.221858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.24, Y:112.42, Z:1.21 [[-2.92925713e-01 9.56135166e-01 2.65140040e-04 1.30244923e+02] [-9.56134668e-01 -2.92925831e-01 9.76570598e-04 1.12418324e+02] [ 1.01139986e-03 3.25530549e-05 9.99999488e-01 1.20902845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.251858064 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:129.97, Y:111.63, Z:1.21 [[-3.19546923e-01 9.47570409e-01 2.91902994e-04 1.29972106e+02] [-9.47569915e-01 -3.19547054e-01 9.67433926e-04 1.11625868e+02] [ 1.00998850e-03 3.25420385e-05 9.99999489e-01 1.21123054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.281858064 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:129.95, Y:111.56, Z:1.21 [[-3.21378554e-01 9.46950749e-01 3.22995895e-04 1.29949255e+02] [-9.46950266e-01 -3.21378716e-01 9.56200056e-04 1.11558904e+02] [ 1.00927837e-03 1.44114243e-06 9.99999491e-01 1.21178609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.24, Y:112.40, Z:1.21 [[-3.01848359e-01 9.53355906e-01 2.90482254e-04 1.30238071e+02] [-9.53355416e-01 -3.01848498e-01 9.67364839e-04 1.12395587e+02] [ 1.00992461e-03 1.50646597e-05 9.99999490e-01 1.21043760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.24, Y:112.40, Z:1.21 [[-2.98986398e-01 9.54257332e-01 2.78842147e-04 1.30240463e+02] [-9.54256838e-01 -2.98986527e-01 9.71227709e-04 1.12399022e+02] [ 1.01017121e-03 2.42968485e-05 9.99999489e-01 1.20806235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.24, Y:112.40, Z:1.21 [[-2.98516509e-01 9.54404432e-01 2.73917778e-04 1.30238939e+02] [-9.54403936e-01 -2.98516633e-01 9.72863222e-04 1.12396077e+02] [ 1.01027398e-03 2.89875268e-05 9.99999489e-01 1.20731047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:112.35, Z:1.21 [[-3.16737598e-01 9.48513161e-01 2.79387090e-04 1.30211364e+02] [-9.48512665e-01 -3.16737719e-01 9.71039743e-04 1.12348750e+02] [ 1.00953641e-03 4.25626025e-05 9.99999490e-01 1.20664930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:112.34, Z:1.21 [[-3.17189518e-01 9.48362118e-01 3.21110864e-04 1.30210120e+02] [-9.48361635e-01 -3.17189681e-01 9.57040380e-04 1.12344945e+02] [ 1.00947389e-03 -9.66046839e-07 9.99999490e-01 1.20667085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.23, Y:112.38, Z:1.21 [[-2.96718807e-01 9.54964840e-01 3.21566811e-04 1.30234060e+02] [-9.54964361e-01 -2.96718980e-01 9.56887157e-04 1.12380130e+02] [ 1.00920857e-03 -2.31584280e-05 9.99999490e-01 1.20503080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:112.39, Z:1.21 [[-2.94662649e-01 9.55601295e-01 2.96972525e-04 1.30234471e+02] [-9.55600808e-01 -2.94662798e-01 9.65135251e-04 1.12385358e+02] [ 1.00979125e-03 6.02124391e-07 9.99999490e-01 1.20540678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:112.34, Z:1.21 [[-3.11044587e-01 9.50395274e-01 2.95922646e-04 1.30206855e+02] [-9.50394784e-01 -3.11044727e-01 9.65488168e-04 1.12338331e+02] [ 1.00964057e-03 1.90665293e-05 9.99999490e-01 1.20721672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.23, Y:112.38, Z:1.21 [[-2.91437615e-01 9.56589783e-01 3.23019275e-04 1.30231211e+02] [-9.56589305e-01 -2.91437792e-01 9.56335804e-04 1.12381819e+02] [ 1.00896108e-03 -3.02845584e-05 9.99999491e-01 1.20843760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.581858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.23, Y:112.37, Z:1.21 [[-2.90291393e-01 9.56938255e-01 2.89212566e-04 1.30227774e+02] [-9.56937766e-01 -2.90291537e-01 9.67712884e-04 1.12373854e+02] [ 1.00999744e-03 4.16029409e-06 9.99999490e-01 1.20743612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.611858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:130.23, Y:112.38, Z:1.21 [[-2.87933859e-01 9.57650251e-01 3.00099606e-04 1.30229820e+02] [-9.57649766e-01 -2.87934015e-01 9.64038613e-04 1.12378834e+02] [ 1.00962070e-03 -9.81095909e-06 9.99999490e-01 1.20771246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.641858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:130.23, Y:112.37, Z:1.21 [[-2.88587080e-01 9.57453606e-01 2.99724187e-04 1.30225441e+02] [-9.57453121e-01 -2.88587235e-01 9.64165461e-04 1.12367520e+02] [ 1.00964027e-03 -8.72616334e-06 9.99999490e-01 1.20810704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.22, Y:112.36, Z:1.21 [[-2.85380888e-01 9.58414135e-01 3.06983845e-04 1.30220125e+02] [-9.58413653e-01 -2.85381053e-01 9.61706686e-04 1.12357627e+02] [ 1.00932065e-03 -1.97647998e-05 9.99999490e-01 1.20679795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.701858064 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:130.23, Y:112.37, Z:1.21 [[-2.81406509e-01 9.59588600e-01 3.07966329e-04 1.30226222e+02] [-9.59588119e-01 -2.81406676e-01 9.61373516e-04 1.12373495e+02] [ 1.00918685e-03 -2.49840656e-05 9.99999490e-01 1.20667358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.731858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:130.23, Y:112.37, Z:1.21 [[-2.77962769e-01 9.60591800e-01 3.06249214e-04 1.30225602e+02] [-9.60591318e-01 -2.77962936e-01 9.61956412e-04 1.12370765e+02] [ 1.00917337e-03 -2.67922686e-05 9.99999490e-01 1.20671243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:112.33, Z:1.21 [[-2.85224376e-01 9.58460725e-01 3.05867597e-04 1.30203137e+02] [-9.58460242e-01 -2.85224540e-01 9.62086226e-04 1.12325921e+02] [ 1.00936281e-03 -1.87514873e-05 9.99999490e-01 1.20579966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.20, Y:112.32, Z:1.21 [[-2.83407593e-01 9.58999494e-01 3.26219552e-04 1.30203059e+02] [-9.58999020e-01 -2.83407777e-01 9.55135162e-04 1.12324713e+02] [ 1.00842730e-03 -4.21516730e-05 9.99999491e-01 1.20580357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.821858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.22, Y:112.36, Z:1.21 [[-2.69709470e-01 9.62941688e-01 3.26711803e-04 1.30222301e+02] [-9.62941216e-01 -2.69709662e-01 9.54966754e-04 1.12360703e+02] [ 1.00769463e-03 -5.70406836e-05 9.99999491e-01 1.20670132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.851858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.22, Y:112.35, Z:1.21 [[-2.65103499e-01 9.64219912e-01 3.10669530e-04 1.30221591e+02] [-9.64219434e-01 -2.65103678e-01 9.60451979e-04 1.12351029e+02] [ 1.00844656e-03 -4.49344177e-05 9.99999491e-01 1.20529519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:112.31, Z:1.21 [[-2.77023828e-01 9.60862999e-01 3.09761840e-04 1.30197420e+02] [-9.60862519e-01 -2.77023999e-01 9.60763020e-04 1.12308183e+02] [ 1.00897310e-03 -3.14842923e-05 9.99999491e-01 1.20673495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.911858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.21, Y:112.34, Z:1.20 [[-2.63760016e-01 9.64588278e-01 3.28245469e-04 1.30213688e+02] [-9.64587808e-01 -2.63760212e-01 9.54406012e-04 1.12335331e+02] [ 1.00718695e-03 -6.48874324e-05 9.99999491e-01 1.20494869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:112.31, Z:1.21 [[-2.73172033e-01 9.61965146e-01 3.13573624e-04 1.30198604e+02] [-9.61964668e-01 -2.73172210e-01 9.59453048e-04 1.12313896e+02] [ 1.00861999e-03 -3.95510075e-05 9.99999491e-01 1.20682971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.971858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:130.21, Y:112.33, Z:1.21 [[-2.64864959e-01 9.64285458e-01 3.29362523e-04 1.30211844e+02] [-9.64284989e-01 -2.64865156e-01 9.54002042e-04 1.12333343e+02] [ 1.00716695e-03 -6.49176250e-05 9.99999491e-01 1.20674593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:112.33, Z:1.21 [[-2.65203539e-01 9.64192399e-01 3.17818615e-04 1.30209282e+02] [-9.64191924e-01 -2.65203725e-01 9.57988007e-04 1.12330782e+02] [ 1.00797144e-03 -5.23763321e-05 9.99999491e-01 1.20593850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.031858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:130.19, Y:112.30, Z:1.21 [[-2.76059178e-01 9.61140587e-01 3.18392541e-04 1.30192636e+02] [-9.61140111e-01 -2.76059359e-01 9.57789442e-04 1.12295756e+02] [ 1.00846555e-03 -4.16132759e-05 9.99999491e-01 1.20713760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.061858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:130.19, Y:112.29, Z:1.21 [[-2.77234034e-01 9.60802363e-01 3.30823551e-04 1.30191566e+02] [-9.60801892e-01 -2.77234226e-01 9.53476308e-04 1.12291253e+02] [ 1.00781790e-03 -5.35198101e-05 9.99999491e-01 1.20657794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.091858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:130.21, Y:112.32, Z:1.21 [[-2.71687734e-01 9.62385404e-01 3.31313381e-04 1.30206006e+02] [-9.62384933e-01 -2.71687930e-01 9.53306072e-04 1.12321702e+02] [ 1.00746170e-03 -5.98494390e-05 9.99999491e-01 1.20697491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.121858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:130.20, Y:112.31, Z:1.21 [[-2.75598858e-01 9.61272680e-01 3.22247103e-04 1.30200869e+02] [-9.61272205e-01 -2.75599043e-01 9.56457363e-04 1.12308372e+02] [ 1.00822733e-03 -4.61686265e-05 9.99999491e-01 1.20601320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:112.31, Z:1.21 [[-2.76246451e-01 9.61086778e-01 3.23056794e-04 1.30201097e+02] [-9.61086303e-01 -2.76246636e-01 9.56175516e-04 1.12309900e+02] [ 1.00821100e-03 -4.63453671e-05 9.99999491e-01 1.20582177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18185806399998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:130.20, Y:112.30, Z:1.21 [[-2.80237290e-01 9.59930704e-01 3.23268932e-04 1.30198110e+02] [-9.59930229e-01 -2.80237473e-01 9.56101553e-04 1.12300657e+02] [ 1.00838331e-03 -4.23803119e-05 9.99999491e-01 1.20691587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.18, Y:112.27, Z:1.21 [[-2.88384071e-01 9.57514763e-01 3.25735995e-04 1.30180378e+02] [-9.57514287e-01 -2.88384253e-01 9.55239638e-04 1.12266945e+02] [ 1.00859319e-03 -3.64209735e-05 9.99999491e-01 1.20722076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:112.29, Z:1.21 [[-2.82585373e-01 9.59242094e-01 3.33625024e-04 1.30193772e+02] [-9.59241623e-01 -2.82585565e-01 9.52476339e-04 1.12292421e+02] [ 1.00793301e-03 -5.08711282e-05 9.99999491e-01 1.20609847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27185806399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:130.18, Y:112.25, Z:1.21 [[-2.90417804e-01 9.56899887e-01 3.25457602e-04 1.30175063e+02] [-9.56899411e-01 -2.90417984e-01 9.55340005e-04 1.12253877e+02] [ 1.00868348e-03 -3.39824411e-05 9.99999491e-01 1.20777618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:112.25, Z:1.21 [[-2.93304144e-01 9.56019125e-01 3.34559921e-04 1.30174854e+02] [-9.56018652e-01 -2.93304332e-01 9.52141667e-04 1.12251717e+02] [ 1.00839352e-03 -4.05784279e-05 9.99999491e-01 1.20739067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:112.25, Z:1.21 [[-2.94375866e-01 9.55689666e-01 3.35053085e-04 1.30173158e+02] [-9.55689193e-01 -2.94376054e-01 9.51968094e-04 1.12247801e+02] [ 1.00841767e-03 -3.99701810e-05 9.99999491e-01 1.20669735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.18, Y:112.26, Z:1.20 [[-2.87984561e-01 9.57634993e-01 3.35591790e-04 1.30182509e+02] [-9.57634521e-01 -2.87984753e-01 9.51778149e-04 1.12257077e+02] [ 1.00810138e-03 -4.72768709e-05 9.99999491e-01 1.20493212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:112.24, Z:1.21 [[-2.98328085e-01 9.54463329e-01 3.27127835e-04 1.30168275e+02] [-9.54462852e-01 -2.98328263e-01 9.54765635e-04 1.12237782e+02] [ 1.00888027e-03 -2.73979630e-05 9.99999491e-01 1.20599443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.16, Y:112.23, Z:1.21 [[-2.99476707e-01 9.54103552e-01 3.36595018e-04 1.30164445e+02] [-9.54103079e-01 -2.99476894e-01 9.51416306e-04 1.12230276e+02] [ 1.00855211e-03 -3.62193206e-05 9.99999491e-01 1.20682645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:112.24, Z:1.21 [[-2.97464441e-01 9.54732838e-01 3.37088186e-04 1.30171460e+02] [-9.54732365e-01 -2.97464630e-01 9.51241544e-04 1.12238934e+02] [ 1.00845335e-03 -3.88684664e-05 9.99999491e-01 1.20548500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.481858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.16, Y:112.21, Z:1.21 [[-3.04578270e-01 9.52487253e-01 3.32607614e-04 1.30157436e+02] [-9.52486777e-01 -3.04578450e-01 9.52832986e-04 1.12211911e+02] [ 1.00886639e-03 -2.65921313e-05 9.99999491e-01 1.20658096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:112.23, Z:1.20 [[-2.99039850e-01 9.54240564e-01 3.38466594e-04 1.30167878e+02] [-9.54240091e-01 -2.99040039e-01 9.50747185e-04 1.12229055e+02] [ 1.00845659e-03 -3.86670980e-05 9.99999491e-01 1.20492685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:112.23, Z:1.21 [[-3.04369440e-01 9.52554006e-01 3.30634736e-04 1.30165902e+02] [-9.52553529e-01 -3.04369618e-01 9.53537638e-04 1.12226267e+02] [ 1.00893127e-03 -2.47195685e-05 9.99999491e-01 1.20537437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.571858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:130.15, Y:112.20, Z:1.21 [[-3.08940663e-01 9.51081256e-01 3.35008815e-04 1.30153481e+02] [-9.51080780e-01 -3.08940843e-01 9.51975638e-04 1.12197671e+02] [ 1.00890409e-03 -2.45164604e-05 9.99999491e-01 1.20501141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.16, Y:112.22, Z:1.20 [[-3.08036302e-01 9.51374543e-01 3.39934477e-04 1.30161243e+02] [-9.51374069e-01 -3.08036488e-01 9.50213505e-04 1.12215787e+02] [ 1.00872116e-03 -3.07045926e-05 9.99999491e-01 1.20465603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.16, Y:112.20, Z:1.20 [[-3.07821180e-01 9.51444168e-01 3.40426136e-04 1.30155218e+02] [-9.51443694e-01 -3.07821367e-01 9.50037329e-04 1.12201849e+02] [ 1.00869792e-03 -3.14546887e-05 9.99999491e-01 1.20477472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:112.19, Z:1.21 [[-3.08596366e-01 9.51193024e-01 3.38826127e-04 1.30149339e+02] [-9.51192549e-01 -3.08596551e-01 9.50611771e-04 1.12189742e+02] [ 1.00877586e-03 -2.89335494e-05 9.99999491e-01 1.20591022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:112.20, Z:1.21 [[-3.08276974e-01 9.51296584e-01 3.41526714e-04 1.30153866e+02] [-9.51296111e-01 -3.08277161e-01 9.49640538e-04 1.12201220e+02] [ 1.00867469e-03 -3.21407232e-05 9.99999491e-01 1.20777360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.721858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.15, Y:112.18, Z:1.21 [[-3.08308582e-01 9.51286341e-01 3.41710150e-04 1.30146956e+02] [-9.51285867e-01 -3.08308769e-01 9.49574454e-04 1.12184138e+02] [ 1.00866944e-03 -3.23020832e-05 9.99999491e-01 1.20780223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.751858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.06, Y:111.95, Z:1.21 [[-3.06638923e-01 9.51825852e-01 3.42460925e-04 1.30060829e+02] [-9.51825380e-01 -3.06639113e-01 9.49303612e-04 1.11947016e+02] [ 1.00858363e-03 -3.48695627e-05 9.99999491e-01 1.20919042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:112.15, Z:1.21 [[-3.07141120e-01 9.51663920e-01 3.39780966e-04 1.30134895e+02] [-9.51663446e-01 -3.07141306e-01 9.50270930e-04 1.12151004e+02] [ 1.00869933e-03 -3.14898475e-05 9.99999491e-01 1.20843116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:112.00, Z:1.21 [[-3.02329766e-01 9.53203333e-01 3.43717852e-04 1.30083622e+02] [-9.53202862e-01 -3.02329959e-01 9.48844798e-04 1.12000558e+02] [ 1.00835823e-03 -4.07688141e-05 9.99999491e-01 1.20741762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:112.17, Z:1.21 [[-3.06774007e-01 9.51782325e-01 3.37107863e-04 1.30142959e+02] [-9.51781850e-01 -3.06774191e-01 9.51240384e-04 1.12166577e+02] [ 1.00878978e-03 -2.90373213e-05 9.99999491e-01 1.20646889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:112.14, Z:1.21 [[-3.06132333e-01 9.51988905e-01 3.44964733e-04 1.30137243e+02] [-9.51988434e-01 -3.06132525e-01 9.48382525e-04 1.12144710e+02] [ 1.00845457e-03 -3.80718813e-05 9.99999491e-01 1.20671960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90185806399998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:130.14, Y:112.15, Z:1.20 [[-3.05903364e-01 9.52062504e-01 3.45551782e-04 1.30140714e+02] [-9.52062033e-01 -3.05903557e-01 9.48168580e-04 1.12153218e+02] [ 1.00842127e-03 -3.89387734e-05 9.99999491e-01 1.20424149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93185806399998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:130.13, Y:112.11, Z:1.20 [[-3.03662144e-01 9.52779713e-01 3.46091794e-04 1.30126119e+02] [-9.52779243e-01 -3.03662339e-01 9.47971429e-04 1.12111683e+02] [ 1.00830299e-03 -4.18860409e-05 9.99999491e-01 1.20372011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.14, Y:112.16, Z:1.20 [[-3.02737563e-01 9.53073894e-01 3.46542907e-04 1.30142378e+02] [-9.53073424e-01 -3.02737758e-01 9.47806491e-04 1.12157139e+02] [ 1.00824125e-03 -4.33442075e-05 9.99999491e-01 1.20365211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:112.15, Z:1.20 [[-3.01990095e-01 9.53311000e-01 3.47398073e-04 1.30137855e+02] [-9.53310530e-01 -3.01990292e-01 9.47492942e-04 1.12145545e+02] [ 1.00816629e-03 -4.50447575e-05 9.99999491e-01 1.20349385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:112.14, Z:1.20 [[-3.00630951e-01 9.53740484e-01 3.47841951e-04 1.30136092e+02] [-9.53740014e-01 -3.00631149e-01 9.47329958e-04 1.12140901e+02] [ 1.00807906e-03 -4.69540808e-05 9.99999491e-01 1.20334240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.13, Y:112.14, Z:1.20 [[-2.98291576e-01 9.54474732e-01 3.48284245e-04 1.30134680e+02] [-9.54474264e-01 -2.98291775e-01 9.47167321e-04 1.12136160e+02] [ 1.00793760e-03 -4.98963155e-05 9.99999491e-01 1.20393140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:112.14, Z:1.20 [[-2.96885493e-01 9.54913023e-01 3.48772384e-04 1.30134654e+02] [-9.54912555e-01 -2.96885694e-01 9.46987541e-04 1.12136241e+02] [ 1.00783627e-03 -5.19002648e-05 9.99999491e-01 1.20366731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:112.14, Z:1.20 [[-2.98357628e-01 9.54454087e-01 3.49259558e-04 1.30134040e+02] [-9.54453619e-01 -2.98357828e-01 9.46807832e-04 1.12135958e+02] [ 1.00788893e-03 -5.08647095e-05 9.99999491e-01 1.20445282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.82, Y:111.77, Z:2.20 [[-3.30281881e-01 -9.43882279e-01 -3.49259558e-04 1.30821543e+02] [-9.43881805e-01 3.30282065e-01 -9.46807832e-04 1.11766624e+02] [ 1.00902930e-03 1.69462699e-05 -9.99999491e-01 2.20443477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:111.98, Z:1.21 [[-2.31750219e-01 9.72775286e-01 2.80665278e-04 1.30047206e+02] [-9.72774807e-01 -2.31750384e-01 9.67008972e-04 1.11981268e+02] [ 1.00572672e-03 -4.89195705e-05 9.99999493e-01 1.20575384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.03, Y:111.92, Z:1.21 [[-2.32146174e-01 9.72680869e-01 2.85072350e-04 1.30027820e+02] [-9.72680391e-01 -2.32146343e-01 9.65708025e-04 1.11916360e+02] [ 1.00550422e-03 -5.30988614e-05 9.99999493e-01 1.20602687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:111.98, Z:1.21 [[-2.34452427e-01 9.72127553e-01 2.83650804e-04 1.30044583e+02] [-9.72127074e-01 -2.34452594e-01 9.66128297e-04 1.11980332e+02] [ 1.00570260e-03 -4.92335016e-05 9.99999493e-01 1.20999224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.261858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:130.04, Y:111.96, Z:1.21 [[-2.33449370e-01 9.72368918e-01 2.81632410e-04 1.30041544e+02] [-9.72368438e-01 -2.33449535e-01 9.66725943e-04 1.11963825e+02] [ 1.00576121e-03 -4.81689046e-05 9.99999493e-01 1.20764236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:111.96, Z:1.21 [[-2.38611962e-01 9.71114952e-01 2.86477581e-04 1.30039754e+02] [-9.71114473e-01 -2.38612129e-01 9.65287996e-04 1.11963029e+02] [ 1.00576263e-03 -4.78732628e-05 9.99999493e-01 1.20905885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:111.63, Z:2.20 [[-2.68131630e-01 -9.63382243e-01 -2.86477582e-04 1.30751898e+02] [-9.63381760e-01 2.68131783e-01 -9.65287996e-04 1.11632812e+02] [ 1.00675506e-03 1.71630323e-05 -9.99999493e-01 2.20149067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.351858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.96, Y:111.80, Z:1.21 [[-1.74127743e-01 9.84723049e-01 2.16387101e-04 1.29963486e+02] [-9.84722561e-01 -1.74127872e-01 9.81140330e-04 1.11801131e+02] [ 1.00383052e-03 -4.22375095e-05 9.99999495e-01 1.20873878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.69, Y:111.52, Z:2.20 [[-2.01714862e-01 -9.79444265e-01 -2.16387101e-04 1.30693502e+02] [-9.79443773e-01 2.01714977e-01 -9.81140330e-04 1.11518187e+02] [ 1.00462079e-03 1.40284129e-05 -9.99999495e-01 2.20163277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.411858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.90, Y:111.62, Z:1.21 [[-1.06111296e-01 9.94354248e-01 1.50616318e-04 1.29896646e+02] [-9.94353755e-01 -1.06111393e-01 9.91460096e-04 1.11624751e+02] [ 1.00184467e-03 -4.45607856e-05 9.99999497e-01 1.20792333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.90, Y:111.63, Z:1.21 [[-1.09014908e-01 9.94040103e-01 1.56218422e-04 1.29896916e+02] [-9.94039610e-01 -1.09015009e-01 9.90576619e-04 1.11632824e+02] [ 1.00170304e-03 -4.72996806e-05 9.99999497e-01 1.20837557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.471858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.64, Y:111.40, Z:2.20 [[-1.35636879e-01 -9.90758605e-01 -1.56218422e-04 1.30640911e+02] [-9.90758110e-01 1.35636967e-01 -9.90576619e-04 1.11398899e+02] [ 1.00261130e-03 2.04159476e-05 -9.99999497e-01 2.20425969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:111.46, Z:1.21 [[-4.19281342e-02 9.99120625e-01 8.72958098e-05 1.29843085e+02] [-9.99120129e-01 -4.19282004e-02 9.96759061e-04 1.11462377e+02] [ 9.99542693e-04 -4.54267531e-05 9.99999499e-01 1.20730924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.531858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:129.85, Y:111.46, Z:1.20 [[-3.88745813e-02 9.99244094e-01 8.99265062e-05 1.29846250e+02] [-9.99243598e-01 -3.88746517e-02 9.96521666e-04 1.11460776e+02] [ 9.99264251e-04 -5.11191230e-05 9.99999499e-01 1.20486928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.561858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:129.84, Y:111.45, Z:1.21 [[-4.37638708e-02 9.99041899e-01 8.39175817e-05 1.29842300e+02] [-9.99041403e-01 -4.37639328e-02 9.97066604e-04 1.11447717e+02] [ 9.99783877e-04 -4.02016444e-05 9.99999499e-01 1.20608713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:111.26, Z:2.21 [[-7.21435458e-02 -9.97394256e-01 -8.39175817e-05 1.30596851e+02] [-9.97393758e-01 7.21435937e-02 -9.97066604e-04 1.11256737e+02] [ 1.00052262e-03 1.17669519e-05 -9.99999499e-01 2.20581723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.621858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:129.80, Y:111.26, Z:1.21 [[ 2.49878922e-02 9.99687754e-01 2.33669862e-05 1.29795865e+02] [-9.99687256e-01 2.49878564e-02 9.98483639e-04 1.11262760e+02] [ 9.97587976e-04 -4.83096799e-05 9.99999501e-01 1.20661091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.56, Y:111.13, Z:2.20 [[-5.65630943e-03 -9.99984003e-01 -2.33669862e-05 1.30564275e+02] [-9.99983504e-01 5.65632995e-03 -9.98483639e-04 1.11131093e+02] [ 9.98599838e-04 1.77188684e-05 -9.99999501e-01 2.20339170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.55, Y:111.13, Z:2.20 [[ 7.20052279e-02 -9.97404254e-01 4.31182092e-05 1.30551030e+02] [-9.97403757e-01 -7.20052351e-02 -9.95604262e-04 1.11133245e+02] [ 9.96124663e-04 2.86824479e-05 -9.99999503e-01 2.20484709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.53, Y:111.13, Z:2.21 [[ 1.49259744e-01 -9.88798015e-01 1.20567136e-04 1.30533388e+02] [-9.88797524e-01 -1.49259791e-01 -9.86135183e-04 1.11129640e+02] [ 9.93084336e-04 2.79737995e-05 -9.99999507e-01 2.20670093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:111.13, Z:2.21 [[ 2.27880650e-01 -9.73689052e-01 1.96708455e-04 1.30517144e+02] [-9.73688569e-01 -2.27880733e-01 -9.70705541e-04 1.11126022e+02] [ 9.89991426e-04 2.96722351e-05 -9.99999510e-01 2.20566229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:111.12, Z:2.21 [[ 3.03877950e-01 -9.52710931e-01 2.71131298e-04 1.30503035e+02] [-9.52710458e-01 -3.03878070e-01 -9.49452925e-04 1.11121117e+02] [ 9.86945035e-04 3.02081849e-05 -9.99999513e-01 2.20610937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.49, Y:111.10, Z:2.21 [[ 3.77681418e-01 -9.25935542e-01 3.43466321e-04 1.30490983e+02] [-9.25935083e-01 -3.77681573e-01 -9.22521698e-04 1.11101174e+02] [ 9.83916529e-04 3.03917870e-05 -9.99999516e-01 2.20672169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.48, Y:111.08, Z:2.21 [[ 4.49164758e-01 -8.93448851e-01 4.12870688e-04 1.30478752e+02] [-8.93448408e-01 -4.49164947e-01 -8.90337234e-04 1.11080720e+02] [ 9.80917820e-04 3.10294495e-05 -9.99999518e-01 2.20870926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.47, Y:111.07, Z:2.21 [[ 5.17814091e-01 -8.55493038e-01 4.79374608e-04 1.30468130e+02] [-8.55492613e-01 -5.17814312e-01 -8.52961224e-04 1.11072168e+02] [ 9.77929421e-04 3.15739055e-05 -9.99999521e-01 2.20828692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.891858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.46, Y:111.06, Z:2.21 [[ 5.83648960e-01 -8.12005909e-01 5.42884597e-04 1.30458600e+02] [-8.12005505e-01 -5.83649212e-01 -8.10416961e-04 1.11063425e+02] [ 9.74917528e-04 3.21737360e-05 -9.99999524e-01 2.20855984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.921858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.45, Y:111.06, Z:2.21 [[ 6.44439432e-01 -7.64655121e-01 6.02713821e-04 1.30453545e+02] [-7.64654741e-01 -6.44439714e-01 -7.63166600e-04 1.11059194e+02] [ 9.71971971e-04 3.09466703e-05 -9.99999527e-01 2.20741821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.951858064 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:130.46, Y:111.06, Z:2.21 [[ 7.02542673e-01 -7.11641313e-01 6.58474338e-04 1.30464091e+02] [-7.11640958e-01 -7.02542981e-01 -7.11566554e-04 1.11064176e+02] [ 9.68986681e-04 3.13085595e-05 -9.99999530e-01 2.20698439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.981858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.47, Y:111.07, Z:2.21 [[ 7.55213872e-01 -6.55478049e-01 7.31141959e-04 1.30467699e+02] [-6.55477744e-01 -7.55214226e-01 -6.32504282e-04 1.11071042e+02] [ 9.66761482e-04 -1.57127402e-06 -9.99999533e-01 2.20639596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.011858064 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:130.48, Y:111.08, Z:2.21 [[ 8.05851972e-01 -5.92116558e-01 7.62132364e-04 1.30476880e+02] [-5.92116262e-01 -8.05852332e-01 -5.93120254e-04 1.11084646e+02] [ 9.65362466e-04 2.66961599e-05 -9.99999534e-01 2.20765986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.041858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.49, Y:111.10, Z:2.21 [[ 8.49657100e-01 -5.27334972e-01 7.99760527e-04 1.30485834e+02] [-5.27334699e-01 -8.49657476e-01 -5.36841640e-04 1.11100118e+02] [ 9.62617882e-04 3.43898336e-05 -9.99999536e-01 2.20737151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.071858064 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:130.49, Y:111.11, Z:2.21 [[ 8.89643747e-01 -4.56654466e-01 8.37532526e-04 1.30492903e+02] [-4.56654226e-01 -8.89644141e-01 -4.69454304e-04 1.11114799e+02] [ 9.59484309e-04 3.51843189e-05 -9.99999539e-01 2.20800762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:111.12, Z:2.21 [[ 9.22823356e-01 -3.85222409e-01 8.65638882e-04 1.30493014e+02] [-3.85222195e-01 -9.22823761e-01 -4.08628470e-04 1.11118739e+02] [ 9.56244973e-04 4.36285864e-05 -9.99999542e-01 2.20943405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:111.12, Z:2.21 [[ 9.51408488e-01 -3.07930343e-01 8.90261376e-04 1.30494060e+02] [-3.07930157e-01 -9.51408903e-01 -3.42155663e-04 1.11123234e+02] [ 9.52362710e-04 5.13914769e-05 -9.99999545e-01 2.20979497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.161858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.50, Y:111.14, Z:2.21 [[ 9.72798712e-01 -2.31650252e-01 9.08975132e-04 1.30496065e+02] [-2.31650095e-01 -9.72799135e-01 -2.76670436e-04 1.11140399e+02] [ 9.48340998e-04 5.85804681e-05 -9.99999549e-01 2.20797510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:111.13, Z:2.21 [[ 9.88068620e-01 -1.54011515e-01 9.25464035e-04 1.30490966e+02] [-1.54011400e-01 -9.88069052e-01 -1.94454243e-04 1.11134510e+02] [ 9.44370564e-04 4.96021240e-05 -9.99999553e-01 2.20861331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.48, Y:111.12, Z:2.21 [[ 9.97233998e-01 -7.43201194e-02 9.34175473e-04 1.30484804e+02] [-7.43200379e-02 -9.97234434e-01 -1.21791454e-04 1.11116716e+02] [ 9.40643505e-04 5.20266219e-05 -9.99999556e-01 2.20859421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.48, Y:111.11, Z:2.21 [[ 9.99974928e-01 7.01898651e-03 9.37140413e-04 1.30480763e+02] [ 7.01903666e-03 -9.99975365e-01 -5.02312657e-05 1.11105365e+02] [ 9.36764754e-04 5.68078292e-05 -9.99999560e-01 2.20980838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.281858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.48, Y:111.11, Z:2.21 [[ 9.95963305e-01 8.97564584e-02 9.34122231e-04 1.30475868e+02] [ 8.97564693e-02 -9.95963742e-01 3.02686346e-05 1.11113736e+02] [ 9.33068678e-04 5.36970641e-05 -9.99999563e-01 2.20881414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.311858064 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:130.47, Y:111.14, Z:2.21 [[ 9.85751267e-01 1.68206967e-01 9.25360217e-04 1.30471607e+02] [ 1.68206942e-01 -9.85751700e-01 1.05450287e-04 1.11136921e+02] [ 9.29912880e-04 5.17042580e-05 -9.99999566e-01 2.20815195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.341858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.46, Y:111.16, Z:2.21 [[ 9.69082908e-01 2.46733650e-01 9.07344599e-04 1.30461010e+02] [ 2.46733574e-01 -9.69083332e-01 1.96065151e-04 1.11159684e+02] [ 9.27668398e-04 3.38689888e-05 -9.99999569e-01 2.20836213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.371858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.46, Y:111.16, Z:2.21 [[ 9.46185355e-01 3.23623977e-01 8.92260073e-04 1.30459464e+02] [ 3.23623885e-01 -9.46185774e-01 2.49919729e-04 1.11164873e+02] [ 9.25123804e-04 5.22862836e-05 -9.99999571e-01 2.20750662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.46, Y:111.16, Z:2.21 [[ 9.17862572e-01 3.96897419e-01 8.58518234e-04 1.30455905e+02] [ 3.96897273e-01 -9.17862974e-01 3.41341167e-04 1.11162546e+02] [ 9.23479527e-04 2.74392645e-05 -9.99999573e-01 2.20809255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.46, Y:111.15, Z:2.21 [[ 8.84139776e-01 4.67221738e-01 8.38791103e-04 1.30457874e+02] [ 4.67221583e-01 -8.84140173e-01 3.84388600e-04 1.11146155e+02] [ 9.21203621e-04 5.20480560e-05 -9.99999574e-01 2.21027673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.46, Y:111.14, Z:2.21 [[ 8.44887356e-01 5.34943641e-01 8.10830954e-04 1.30456475e+02] [ 5.34943468e-01 -8.44887742e-01 4.34871761e-04 1.11140336e+02] [ 9.17693017e-04 6.63310710e-05 -9.99999577e-01 2.21184443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.46, Y:111.13, Z:2.21 [[ 7.98461924e-01 6.02044819e-01 7.69738628e-04 1.30460840e+02] [ 6.02044618e-01 -7.98462292e-01 4.96847247e-04 1.11126395e+02] [ 9.13731580e-04 6.67033893e-05 -9.99999580e-01 2.20992466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52185806399999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:130.47, Y:111.11, Z:2.21 [[ 7.46653135e-01 6.65213177e-01 7.24853475e-04 1.30466623e+02] [ 6.65212949e-01 -7.46653484e-01 5.54197733e-04 1.11114217e+02] [ 9.09874007e-04 6.83884437e-05 -9.99999584e-01 2.20980881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.47, Y:111.11, Z:2.21 [[ 6.91794565e-01 7.22094061e-01 6.68770180e-04 1.30469192e+02] [ 7.22093801e-01 -6.91794885e-01 6.15167824e-04 1.11106700e+02] [ 9.06860822e-04 5.73450447e-05 -9.99999587e-01 2.20978212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.581858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.47, Y:111.10, Z:2.21 [[ 6.32356325e-01 7.74677415e-01 6.16646563e-04 1.30474596e+02] [ 7.74677133e-01 -6.32356623e-01 6.63603173e-04 1.11097102e+02] [ 9.04018929e-04 5.80683277e-05 -9.99999590e-01 2.20956964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.49, Y:111.08, Z:2.21 [[ 5.70151463e-01 8.21539405e-01 5.61051441e-04 1.30485045e+02] [ 8.21539102e-01 -5.70151737e-01 7.07679250e-04 1.11084899e+02] [ 9.01270844e-04 5.74413375e-05 -9.99999592e-01 2.20923034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.50, Y:111.07, Z:2.21 [[ 5.03991975e-01 8.63708188e-01 5.04458918e-04 1.30495309e+02] [ 8.63707868e-01 -5.03992224e-01 7.45754340e-04 1.11072011e+02] [ 8.98357502e-04 5.98509338e-05 -9.99999595e-01 2.21002735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:111.06, Z:2.21 [[ 4.34662829e-01 9.00593153e-01 4.45142026e-04 1.30508755e+02] [ 9.00592818e-01 -4.34663052e-01 7.79247817e-04 1.11061012e+02] [ 8.95272041e-04 6.21816512e-05 -9.99999597e-01 2.20919049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:111.05, Z:2.21 [[ 3.60278045e-01 9.32844890e-01 3.76875354e-04 1.30519272e+02] [ 9.32844539e-01 -3.60278238e-01 8.10972718e-04 1.11051826e+02] [ 8.92291743e-04 5.93904501e-05 -9.99999600e-01 2.21102553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:111.04, Z:2.21 [[ 2.85937913e-01 9.58248096e-01 3.11228791e-04 1.30526294e+02] [ 9.58247733e-01 -2.85938076e-01 8.35428552e-04 1.11044664e+02] [ 8.89539981e-04 5.93535866e-05 -9.99999603e-01 2.21099699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.53, Y:111.04, Z:2.21 [[ 2.09656599e-01 9.77775051e-01 2.44109049e-04 1.30533392e+02] [ 9.77774680e-01 -2.09656732e-01 8.54600708e-04 1.11037610e+02] [ 8.86786357e-04 5.95109690e-05 -9.99999605e-01 2.21097739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.791858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:130.55, Y:111.03, Z:2.21 [[ 1.35470925e-01 9.90781307e-01 1.75866527e-04 1.30546201e+02] [ 9.90780928e-01 -1.35471027e-01 8.68420712e-04 1.11028647e+02] [ 8.84239827e-04 5.65994432e-05 -9.99999607e-01 2.21163944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.821858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.57, Y:111.01, Z:2.22 [[ 6.18576128e-02 9.98084977e-01 1.22701756e-04 1.30568203e+02] [ 9.98084595e-01 -6.18576968e-02 8.75014675e-04 1.11013023e+02] [ 8.80929050e-04 6.83404139e-05 -9.99999610e-01 2.21567466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.851858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.57, Y:111.01, Z:2.21 [[-2.21400161e-02 9.99754876e-01 8.69284541e-05 1.30567242e+02] [ 9.99754497e-01 2.21399315e-02 8.76824035e-04 1.11012421e+02] [ 8.74684514e-04 1.06320011e-04 -9.99999612e-01 2.21168617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.62, Y:110.94, Z:2.22 [[-8.24690012e-02 9.96593630e-01 -3.11733994e-05 1.30621906e+02] [ 9.96593249e-01 8.24689970e-02 8.72604908e-04 1.10940974e+02] [ 8.72203332e-04 4.08956559e-05 -9.99999619e-01 2.21627969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.911858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.66, Y:110.91, Z:2.22 [[-1.58042364e-01 9.87432331e-01 -5.65357034e-05 1.30663080e+02] [ 9.87431951e-01 1.58042353e-01 8.69921645e-04 1.10911699e+02] [ 8.67923793e-04 8.16593136e-05 -9.99999620e-01 2.21586110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:110.89, Z:2.21 [[-2.44286839e-01 9.69703011e-01 -1.08983652e-04 1.30701063e+02] [ 9.69702635e-01 2.44286841e-01 8.60158314e-04 1.10894747e+02] [ 8.60721379e-04 1.04443621e-04 -9.99999624e-01 2.21306042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.75, Y:110.87, Z:2.21 [[-3.15937639e-01 9.48779938e-01 -1.91390675e-04 1.30749558e+02] [ 9.48779572e-01 3.15937686e-01 8.37683750e-04 1.10867620e+02] [ 8.55245063e-04 8.30682633e-05 -9.99999631e-01 2.21400708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:110.84, Z:2.21 [[-3.90809165e-01 9.20471692e-01 -2.46858684e-04 1.30799606e+02] [ 9.20471333e-01 3.90809232e-01 8.17923206e-04 1.10839922e+02] [ 8.49349810e-04 9.24255428e-05 -9.99999635e-01 2.21397563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.031858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.84, Y:110.84, Z:2.22 [[-4.63613695e-01 8.86037386e-01 -3.05044812e-04 1.30841873e+02] [ 8.86037037e-01 4.63613785e-01 7.91901957e-04 1.10837743e+02] [ 8.43077720e-04 9.68555907e-05 -9.99999640e-01 2.21538806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:110.82, Z:2.21 [[-5.35553880e-01 8.44500981e-01 -3.66923545e-04 1.30892248e+02] [ 8.44500646e-01 5.35553997e-01 7.58111812e-04 1.10821952e+02] [ 8.36733540e-04 9.61425517e-05 -9.99999645e-01 2.21248835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:110.81, Z:2.21 [[-6.04217507e-01 7.96819315e-01 -4.27154407e-04 1.30941581e+02] [ 7.96818997e-01 6.04217651e-01 7.18742573e-04 1.10813506e+02] [ 8.30802198e-04 9.39120996e-05 -9.99999650e-01 2.21151977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:110.84, Z:2.21 [[-6.72753620e-01 7.39866428e-01 -4.85833789e-04 1.30959679e+02] [ 7.39866127e-01 6.72753789e-01 6.73326607e-04 1.10838810e+02] [ 8.25018274e-04 9.35309484e-05 -9.99999655e-01 2.21030729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.01, Y:110.84, Z:2.21 [[-7.30203001e-01 6.83230025e-01 -5.56455245e-04 1.31005586e+02] [ 6.83229757e-01 7.30203210e-01 6.08774501e-04 1.10843131e+02] [ 8.22258424e-04 6.43421863e-05 -9.99999660e-01 2.20967724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:110.82, Z:2.21 [[-7.73648783e-01 6.33614394e-01 -6.00587719e-04 1.31106043e+02] [ 6.33614148e-01 7.73649014e-01 5.61576242e-04 1.10816203e+02] [ 8.20466887e-04 5.39219001e-05 -9.99999662e-01 2.20973585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.15, Y:110.83, Z:2.21 [[-8.23015095e-01 5.68019163e-01 -6.19599796e-04 1.31147010e+02] [ 5.68018915e-01 8.23015323e-01 5.38071553e-04 1.10830352e+02] [ 8.15575080e-04 9.08966057e-05 -9.99999663e-01 2.20986909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.20, Y:110.84, Z:2.21 [[-8.64941327e-01 5.01872565e-01 -6.55227215e-04 1.31195920e+02] [ 5.01872338e-01 8.64941570e-01 4.86002956e-04 1.10843040e+02] [ 8.10644807e-04 9.15236273e-05 -9.99999667e-01 2.20986747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.20, Y:110.88, Z:2.21 [[-9.06165099e-01 4.22923563e-01 -6.88450387e-04 1.31198109e+02] [ 4.22923357e-01 9.06165355e-01 4.28092142e-04 1.10875356e+02] [ 8.04900143e-04 9.67604090e-05 -9.99999671e-01 2.20984629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.301858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.30, Y:110.88, Z:2.21 [[-9.31125738e-01 3.64697585e-01 -7.28907006e-04 1.31299729e+02] [ 3.64697428e-01 9.31126022e-01 3.41821696e-04 1.10882251e+02] [ 8.03365828e-04 5.24484684e-05 -9.99999676e-01 2.21130750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:110.92, Z:2.21 [[-9.60903699e-01 2.76881805e-01 -7.40341006e-04 1.31286786e+02] [ 2.76881645e-01 9.60903979e-01 3.11937574e-04 1.10916010e+02] [ 7.97766457e-04 9.47551322e-05 -9.99999677e-01 2.20923332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.32, Y:110.94, Z:2.21 [[-9.79505663e-01 2.01415166e-01 -7.66426063e-04 1.31322460e+02] [ 2.01415054e-01 9.79505961e-01 2.21801893e-04 1.10944145e+02] [ 7.95393162e-04 6.28864630e-05 -9.99999682e-01 2.20927204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:110.97, Z:2.21 [[-9.92295589e-01 1.23890504e-01 -7.79040268e-04 1.31362203e+02] [ 1.23890416e-01 9.92295893e-01 1.60620632e-04 1.10974349e+02] [ 7.92937830e-04 6.28675220e-05 -9.99999684e-01 2.20930281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.421858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.40, Y:111.01, Z:2.21 [[-9.98926785e-01 4.63104654e-02 -7.86801611e-04 1.31396367e+02] [ 4.63104018e-02 9.98927093e-01 9.88335713e-05 1.11006437e+02] [ 7.90534475e-04 6.22904028e-05 -9.99999686e-01 2.20889082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.49, Y:111.05, Z:2.21 [[-9.99911584e-01 -1.32740853e-02 -7.89693096e-04 1.31487033e+02] [-1.32741185e-02 9.99911894e-01 3.68217666e-05 1.11054570e+02] [ 7.89134744e-04 4.73009907e-05 -9.99999688e-01 2.20990287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.481858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.53, Y:111.10, Z:2.21 [[-9.96305571e-01 -8.58754091e-02 -7.89149687e-04 1.31527469e+02] [-8.58754461e-02 9.96305881e-01 1.31377399e-05 1.11097683e+02] [ 7.85106265e-04 8.08577849e-05 -9.99999689e-01 2.20919359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.511858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.50, Y:111.12, Z:2.21 [[-9.82306701e-01 -1.87277682e-01 -7.84266562e-04 1.31495261e+02] [-1.87277713e-01 9.82307008e-01 -3.45649832e-05 1.11115465e+02] [ 7.76863789e-04 1.12922233e-04 -9.99999692e-01 2.20972457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.541858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.51, Y:111.16, Z:2.21 [[-9.64718750e-01 -2.63281504e-01 -7.63158209e-04 1.31513648e+02] [-2.63281471e-01 9.64719050e-01 -1.45375040e-04 1.11156025e+02] [ 7.74507822e-04 6.06793889e-05 -9.99999698e-01 2.20922171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.571858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.39, Y:111.91, Z:1.20 [[-9.56239479e-01 2.92584177e-01 7.47159453e-04 1.31385487e+02] [-2.92584107e-01 -9.56239771e-01 2.03977651e-04 1.11910968e+02] [ 7.74144217e-04 -2.35554985e-05 9.99999700e-01 1.20216086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.601858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.31, Y:111.91, Z:1.21 [[-9.64559295e-01 2.63865156e-01 7.38588752e-04 1.31314207e+02] [-2.63865053e-01 -9.64559577e-01 2.35179759e-04 1.11908056e+02] [ 7.74468598e-04 3.19570619e-05 9.99999700e-01 1.20507830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.631858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:131.40, Y:111.91, Z:1.20 [[-9.54603646e-01 2.97878030e-01 7.47104230e-04 1.31399487e+02] [-2.97877962e-01 -9.54603938e-01 2.03992602e-04 1.11910043e+02] [ 7.73953554e-04 -2.78138030e-05 9.99999700e-01 1.19896918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.661858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.40, Y:111.91, Z:1.20 [[-9.53994556e-01 2.99823021e-01 7.37186372e-04 1.31398097e+02] [-2.99822925e-01 -9.53994841e-01 2.39945689e-04 1.11907837e+02] [ 7.75213237e-04 7.88150641e-06 9.99999700e-01 1.19839346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:111.91, Z:1.20 [[-9.53861950e-01 3.00244629e-01 7.36307729e-04 1.31396385e+02] [-3.00244531e-01 -9.53862235e-01 2.43132235e-04 1.11906229e+02] [ 7.75335283e-04 1.08422189e-05 9.99999699e-01 1.19799659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.721858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.39, Y:111.90, Z:1.20 [[-9.53994855e-01 2.99822070e-01 7.36230934e-04 1.31393098e+02] [-2.99821972e-01 -9.53995139e-01 2.43410972e-04 1.11904202e+02] [ 7.75340714e-04 1.14746052e-05 9.99999699e-01 1.19912366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:111.90, Z:1.20 [[-9.53272129e-01 3.02112076e-01 7.36476840e-04 1.31395931e+02] [-3.02111979e-01 -9.53272413e-01 2.42517314e-04 1.11902788e+02] [ 7.75330463e-04 8.68652082e-06 9.99999699e-01 1.20016060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.39, Y:111.90, Z:1.20 [[-9.53664978e-01 3.00869689e-01 7.35057742e-04 1.31392847e+02] [-3.00869588e-01 -9.53665261e-01 2.47676955e-04 1.11900893e+02] [ 7.75517521e-04 1.50443179e-05 9.99999699e-01 1.19894914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.811858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.39, Y:111.90, Z:1.20 [[-9.53643052e-01 3.00939178e-01 7.35393801e-04 1.31391227e+02] [-3.00939077e-01 -9.53643335e-01 2.46453313e-04 1.11900252e+02] [ 7.75470855e-04 1.37197576e-05 9.99999699e-01 1.19970818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:111.90, Z:1.20 [[-9.51024452e-01 3.09114789e-01 7.33661591e-04 1.31396879e+02] [-3.09114686e-01 -9.51024735e-01 2.52765103e-04 1.11897423e+02] [ 7.75863752e-04 1.36002209e-05 9.99999699e-01 1.19733167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:111.90, Z:1.20 [[-9.50872876e-01 3.09580747e-01 7.30965248e-04 1.31385218e+02] [-3.09580636e-01 -9.50873157e-01 2.62587137e-04 1.11896426e+02] [ 7.76347155e-04 2.33942999e-05 9.99999698e-01 1.19599265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.38, Y:111.89, Z:1.20 [[-9.51073015e-01 3.08965347e-01 7.31481134e-04 1.31380334e+02] [-3.08965238e-01 -9.51073296e-01 2.60703033e-04 1.11893944e+02] [ 7.76240376e-04 2.19453769e-05 9.99999698e-01 1.19589111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:111.89, Z:1.20 [[-9.51786786e-01 3.06759480e-01 7.31907087e-04 1.31371969e+02] [-3.06759371e-01 -9.51787067e-01 2.59143980e-04 1.11891193e+02] [ 7.76114572e-04 2.21304587e-05 9.99999699e-01 1.19759507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.39, Y:111.90, Z:1.20 [[-9.51901690e-01 3.06402737e-01 7.32402173e-04 1.31386112e+02] [-3.06402629e-01 -9.51901971e-01 2.57330534e-04 1.11895658e+02] [ 7.76021852e-04 2.05434189e-05 9.99999699e-01 1.20102122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:111.90, Z:1.20 [[-9.52046080e-01 3.05953796e-01 7.31688874e-04 1.31385228e+02] [-3.05953687e-01 -9.52046361e-01 2.59941644e-04 1.11895034e+02] [ 7.76131863e-04 2.36135152e-05 9.99999699e-01 1.20145313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:111.89, Z:1.20 [[-9.53410533e-01 3.01675023e-01 7.31859596e-04 1.31365831e+02] [-3.01674912e-01 -9.53410814e-01 2.59314908e-04 1.11893558e+02] [ 7.75991683e-04 2.64498853e-05 9.99999699e-01 1.20166020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.37, Y:111.90, Z:1.20 [[-9.52777748e-01 3.03667621e-01 7.34013830e-04 1.31373574e+02] [-3.03667518e-01 -9.52778031e-01 2.51382431e-04 1.11895505e+02] [ 7.75688956e-04 1.66154291e-05 9.99999699e-01 1.20349996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:111.90, Z:1.21 [[-9.54069890e-01 2.99583224e-01 7.32776573e-04 1.31368014e+02] [-2.99583116e-01 -9.54070171e-01 2.55938911e-04 1.11897774e+02] [ 7.75795275e-04 2.46561195e-05 9.99999699e-01 1.20582051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:111.90, Z:1.21 [[-9.54898794e-01 2.96930560e-01 7.32677307e-04 1.31364337e+02] [-2.96930450e-01 -9.54899074e-01 2.56304811e-04 1.11900231e+02] [ 7.75737613e-04 2.71909522e-05 9.99999699e-01 1.20688894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:111.90, Z:1.21 [[-9.56001884e-01 2.93359606e-01 7.34089516e-04 1.31355070e+02] [-2.93359500e-01 -9.56002166e-01 2.51088126e-04 1.11899887e+02] [ 7.75450281e-04 2.46885884e-05 9.99999699e-01 1.20765141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:111.90, Z:1.21 [[-9.55360961e-01 2.95440167e-01 7.35488867e-04 1.31362851e+02] [-2.95440065e-01 -9.55361244e-01 2.45908244e-04 1.11901452e+02] [ 7.75308732e-04 1.76382571e-05 9.99999699e-01 1.20637015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:111.90, Z:1.21 [[-9.57346257e-01 2.88942218e-01 7.34014111e-04 1.31353061e+02] [-2.88942110e-01 -9.57346538e-01 2.51366414e-04 1.11899452e+02] [ 7.75336238e-04 2.85571098e-05 9.99999699e-01 1.20898977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:111.90, Z:1.21 [[-9.57255248e-01 2.89243583e-01 7.34861967e-04 1.31351221e+02] [-2.89243477e-01 -9.57255530e-01 2.48220227e-04 1.11900269e+02] [ 7.75246789e-04 2.50560849e-05 9.99999699e-01 1.20544256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:111.90, Z:1.21 [[-9.58275229e-01 2.85846194e-01 7.34236634e-04 1.31347484e+02] [-2.85846085e-01 -9.58275510e-01 2.50544323e-04 1.11899891e+02] [ 7.75218126e-04 3.02117505e-05 9.99999699e-01 1.20701306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:111.90, Z:1.21 [[-9.58542350e-01 2.84949159e-01 7.34272965e-04 1.31348097e+02] [-2.84949051e-01 -9.58542631e-01 2.50409076e-04 1.11901632e+02] [ 7.75185796e-04 3.07973201e-05 9.99999699e-01 1.20751706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.321858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.35, Y:111.90, Z:1.21 [[-9.58893037e-01 2.83766814e-01 7.34387219e-04 1.31345549e+02] [-2.83766705e-01 -9.58893318e-01 2.49983197e-04 1.11899282e+02] [ 7.75135932e-04 3.13125056e-05 9.99999699e-01 1.20553958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.34, Y:111.90, Z:1.21 [[-9.59429595e-01 2.81947358e-01 7.34765197e-04 1.31337936e+02] [-2.81947251e-01 -9.59429876e-01 2.48571867e-04 1.11899265e+02] [ 7.75039863e-04 3.13221788e-05 9.99999699e-01 1.20750664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:111.90, Z:1.21 [[-9.58628657e-01 2.84658668e-01 7.34895605e-04 1.31340147e+02] [-2.84658562e-01 -9.58628939e-01 2.48084169e-04 1.11901379e+02] [ 7.75111503e-04 2.86262681e-05 9.99999699e-01 1.20531775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:111.90, Z:1.20 [[-9.56732224e-01 2.90968917e-01 7.35092123e-04 1.31344830e+02] [-2.90968813e-01 -9.56732506e-01 2.47348657e-04 1.11901488e+02] [ 7.75257300e-04 2.27575488e-05 9.99999699e-01 1.20358745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:111.90, Z:1.21 [[-9.57311820e-01 2.89056294e-01 7.33057176e-04 1.31340669e+02] [-2.89056183e-01 -9.57312101e-01 2.54961420e-04 1.11902147e+02] [ 7.75462708e-04 3.21828713e-05 9.99999699e-01 1.20550148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:111.90, Z:1.20 [[-9.55589674e-01 2.94699570e-01 7.33760638e-04 1.31346621e+02] [-2.94699463e-01 -9.55589956e-01 2.52325893e-04 1.11902556e+02] [ 7.75534627e-04 2.48811517e-05 9.99999699e-01 1.20464839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:111.91, Z:1.21 [[-9.55433363e-01 2.95205951e-01 7.32155691e-04 1.31360710e+02] [-2.95205840e-01 -9.55433643e-01 2.58327225e-04 1.11907952e+02] [ 7.75785913e-04 3.06778132e-05 9.99999699e-01 1.20579523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:111.90, Z:1.20 [[-9.53515327e-01 3.01343632e-01 7.32935727e-04 1.31342233e+02] [-3.01343525e-01 -9.53515608e-01 2.55403858e-04 1.11903425e+02] [ 7.75829982e-04 2.26660576e-05 9.99999699e-01 1.20298824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:111.90, Z:1.20 [[-9.52909168e-01 3.03254981e-01 7.31419434e-04 1.31348313e+02] [-3.03254870e-01 -9.52909448e-01 2.61091263e-04 1.11904331e+02] [ 7.76153715e-04 2.69897534e-05 9.99999698e-01 1.20355100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:111.91, Z:1.21 [[-9.53488847e-01 3.01427404e-01 7.33889595e-04 1.31344580e+02] [-3.01427299e-01 -9.53489129e-01 2.51813861e-04 1.11907052e+02] [ 7.75659349e-04 1.88873496e-05 9.99999699e-01 1.20717150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:111.91, Z:1.21 [[-9.54413759e-01 2.98485912e-01 7.32870033e-04 1.31334616e+02] [-2.98485804e-01 -9.54414040e-01 2.55649841e-04 1.11906309e+02] [ 7.75769325e-04 2.52444254e-05 9.99999699e-01 1.21058235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:111.91, Z:1.21 [[-9.53492348e-01 3.01416328e-01 7.34023799e-04 1.31328542e+02] [-3.01416224e-01 -9.53492631e-01 2.51297952e-04 1.11905975e+02] [ 7.75631589e-04 1.83639924e-05 9.99999699e-01 1.21014177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68185806399998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:131.33, Y:111.91, Z:1.21 [[-9.54197145e-01 2.99177657e-01 7.33800790e-04 1.31329262e+02] [-2.99177551e-01 -9.54197427e-01 2.52140127e-04 1.11909747e+02] [ 7.75625518e-04 2.10546660e-05 9.99999699e-01 1.21182020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.33, Y:111.91, Z:1.21 [[-9.52917347e-01 3.03229270e-01 7.35086018e-04 1.31334591e+02] [-3.03229169e-01 -9.52917630e-01 2.47283189e-04 1.11910660e+02] [ 7.75459927e-04 1.27409173e-05 9.99999699e-01 1.21132229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.33, Y:111.91, Z:1.21 [[-9.53128933e-01 3.02563543e-01 7.35100590e-04 1.31328311e+02] [-3.02563442e-01 -9.53129216e-01 2.47228101e-04 1.11910229e+02] [ 7.75448059e-04 1.32256908e-05 9.99999699e-01 1.21277191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.32, Y:111.91, Z:1.21 [[-9.52597105e-01 3.04233815e-01 7.35846790e-04 1.31315962e+02] [-3.04233717e-01 -9.52597389e-01 2.44400888e-04 1.11905446e+02] [ 7.75320745e-04 8.94617421e-06 9.99999699e-01 1.21136916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.32, Y:111.91, Z:1.21 [[-9.51636842e-01 3.07224308e-01 7.38568845e-04 1.31324649e+02] [-3.07224218e-01 -9.51637129e-01 2.34061191e-04 1.11908896e+02] [ 7.74758822e-04 -4.16498309e-06 9.99999700e-01 1.21056087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:111.91, Z:1.21 [[-9.57548122e-01 2.88272531e-01 7.36304982e-04 1.31274732e+02] [-2.88272430e-01 -9.57548405e-01 2.42662218e-04 1.11907515e+02] [ 7.75000513e-04 2.01043249e-05 9.99999700e-01 1.21230264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:111.91, Z:1.21 [[-9.52450245e-01 3.04693240e-01 7.48689319e-04 1.31304041e+02] [-3.04693180e-01 -9.52450538e-01 1.95149928e-04 1.11906433e+02] [ 7.72550409e-04 -4.22499323e-05 9.99999701e-01 1.21423473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.28, Y:111.91, Z:1.21 [[-9.56152393e-01 2.92868656e-01 7.42434106e-04 1.31276815e+02] [-2.92868575e-01 -9.56152681e-01 2.19054608e-04 1.11907271e+02] [ 7.74034590e-04 -7.98603103e-06 9.99999700e-01 1.21325487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:111.18, Z:2.20 [[-9.59750569e-01 -2.80852782e-01 -7.48725607e-04 1.31495252e+02] [-2.80852715e-01 9.59750861e-01 -1.94883161e-04 1.11181452e+02] [ 7.73323524e-04 2.32423953e-05 -9.99999701e-01 2.20089822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:111.93, Z:1.22 [[-9.28083017e-01 3.72372639e-01 7.28997208e-04 1.31236197e+02] [-3.72372555e-01 -9.28083303e-01 2.51962810e-04 1.11934459e+02] [ 7.70394193e-04 -3.76161485e-05 9.99999703e-01 1.21512049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.981858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.23, Y:111.93, Z:1.22 [[-9.27963964e-01 3.72669224e-01 7.29090203e-04 1.31230254e+02] [-3.72669141e-01 -9.27964249e-01 2.51693430e-04 1.11931282e+02] [ 7.70368038e-04 -3.81469867e-05 9.99999703e-01 1.21550122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.49, Y:111.22, Z:2.20 [[-9.36323655e-01 -3.51137411e-01 -7.29183097e-04 1.31487378e+02] [-3.51137322e-01 9.36323939e-01 -2.51424015e-04 1.11217983e+02] [ 7.71035967e-04 2.06291470e-05 -9.99999703e-01 2.19809730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.041858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:131.22, Y:111.95, Z:1.21 [[-8.81439194e-01 4.72296994e-01 7.05344971e-04 1.31215742e+02] [-4.72296899e-01 -8.81439474e-01 3.06315475e-04 1.11949797e+02] [ 7.66390778e-04 -6.31337772e-05 9.99999704e-01 1.20637635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.071858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:131.21, Y:111.95, Z:1.21 [[-8.83791461e-01 4.67880510e-01 6.93804754e-04 1.31206756e+02] [-4.67880393e-01 -8.83791733e-01 3.32782287e-04 1.11949410e+02] [ 7.68881252e-04 -3.05074972e-05 9.99999704e-01 1.20789881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.101858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.21, Y:111.95, Z:1.21 [[-8.84021152e-01 4.67446381e-01 6.95963921e-04 1.31205778e+02] [-4.67446267e-01 -8.84021425e-01 3.27821900e-04 1.11949572e+02] [ 7.68486178e-04 -3.55242437e-05 9.99999704e-01 1.20812220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.131858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.20, Y:111.95, Z:1.21 [[-8.84214071e-01 4.67081355e-01 6.95960058e-04 1.31203639e+02] [-4.67081241e-01 -8.84214344e-01 3.27830780e-04 1.11948577e+02] [ 7.68501511e-04 -3.51972994e-05 9.99999704e-01 1.20812401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.161858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.19, Y:111.95, Z:1.21 [[-8.89625729e-01 4.56689804e-01 6.96126566e-04 1.31189710e+02] [-4.56689688e-01 -8.89626001e-01 3.27447628e-04 1.11951210e+02] [ 7.68834287e-04 -2.66079891e-05 9.99999704e-01 1.21487535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:111.95, Z:1.22 [[-8.89975614e-01 4.56007582e-01 7.01165854e-04 1.31184454e+02] [-4.56007474e-01 -8.89975889e-01 3.15828640e-04 1.11950941e+02] [ 7.68040959e-04 -3.86570828e-05 9.99999704e-01 1.21577935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:111.95, Z:1.22 [[-8.93742953e-01 4.48578913e-01 7.02179271e-04 1.31169172e+02] [-4.48578805e-01 -8.93743228e-01 3.13489418e-04 1.11948672e+02] [ 7.68192711e-04 -3.48037800e-05 9.99999704e-01 1.21587344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.251858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:131.17, Y:111.95, Z:1.22 [[-8.94144719e-01 4.47777539e-01 7.05749413e-04 1.31167172e+02] [-4.47777437e-01 -8.94144996e-01 3.05234703e-04 1.11947516e+02] [ 7.67719550e-04 -4.30946652e-05 9.99999704e-01 1.21549892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.281858064 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:131.16, Y:111.94, Z:1.22 [[-8.96446088e-01 4.43152247e-01 7.05861859e-04 1.31156007e+02] [-4.43152144e-01 -8.96446365e-01 3.04974449e-04 1.11942044e+02] [ 7.67917409e-04 -3.94110445e-05 9.99999704e-01 1.21559073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.311858064 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:131.16, Y:111.94, Z:1.22 [[-8.96782690e-01 4.42470686e-01 7.05974605e-04 1.31159602e+02] [-4.42470583e-01 -8.96782967e-01 3.04713232e-04 1.11944551e+02] [ 7.67932674e-04 -3.91114427e-05 9.99999704e-01 1.21547467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.341858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.16, Y:111.94, Z:1.22 [[-8.98029545e-01 4.39934583e-01 7.06087400e-04 1.31155272e+02] [-4.39934479e-01 -8.98029822e-01 3.04451636e-04 1.11942758e+02] [ 7.68026346e-04 -3.72256282e-05 9.99999704e-01 1.21598430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.371858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:131.43, Y:111.23, Z:2.20 [[-9.07326924e-01 -4.20425207e-01 -7.06199900e-04 1.31432750e+02] [-4.20425097e-01 9.07327199e-01 -3.04190460e-04 1.11229722e+02] [ 7.68643714e-04 2.09039668e-05 -9.99999704e-01 2.19853904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40185806399998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:131.06, Y:111.93, Z:1.22 [[-8.66119916e-01 4.99835801e-01 6.79794401e-04 1.31057445e+02] [-4.99835677e-01 -8.66120183e-01 3.54785315e-04 1.11934715e+02] [ 7.66118053e-04 -3.24988668e-05 9.99999706e-01 1.21554386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43185806399998 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:131.05, Y:111.93, Z:1.22 [[-8.66658761e-01 4.98900922e-01 6.79925898e-04 1.31052100e+02] [-4.98900797e-01 -8.66659027e-01 3.54533128e-04 1.11931230e+02] [ 7.66140822e-04 -3.19563305e-05 9.99999706e-01 1.21646498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46185806399998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:131.05, Y:111.93, Z:1.22 [[-8.67095612e-01 4.98141283e-01 6.80057620e-04 1.31051189e+02] [-4.98141158e-01 -8.67095878e-01 3.54280281e-04 1.11931152e+02] [ 7.66156793e-04 -3.15698131e-05 9.99999706e-01 1.21601322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49185806399998 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:131.05, Y:111.93, Z:1.22 [[-8.67803620e-01 4.96906846e-01 6.80189397e-04 1.31047332e+02] [-4.96906721e-01 -8.67803886e-01 3.54027100e-04 1.11929151e+02] [ 7.66189492e-04 -3.07646836e-05 9.99999706e-01 1.21617496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52185806399999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:131.04, Y:111.93, Z:1.22 [[-8.68596060e-01 4.95520355e-01 6.80321079e-04 1.31042779e+02] [-4.95520229e-01 -8.68596326e-01 3.53773870e-04 1.11928122e+02] [ 7.66226543e-04 -2.98262674e-05 9.99999706e-01 1.21775677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.551858064 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:131.03, Y:111.92, Z:1.22 [[-8.69296806e-01 4.94289997e-01 6.80452858e-04 1.31034926e+02] [-4.94289871e-01 -8.69297071e-01 3.53520223e-04 1.11923375e+02] [ 7.66257187e-04 -2.90269554e-05 9.99999706e-01 1.21765160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.581858064 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:131.04, Y:111.93, Z:1.22 [[-8.68884069e-01 4.95015163e-01 6.80584970e-04 1.31040689e+02] [-4.95015038e-01 -8.68884335e-01 3.53265703e-04 1.11927243e+02] [ 7.66221498e-04 -2.99528536e-05 9.99999706e-01 1.21723992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.611858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:131.04, Y:111.92, Z:1.22 [[-8.69693394e-01 4.93591873e-01 6.80716880e-04 1.31039071e+02] [-4.93591748e-01 -8.69693660e-01 3.53011338e-04 1.11924800e+02] [ 7.66258682e-04 -2.89846056e-05 9.99999706e-01 1.21693554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.641858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:131.04, Y:111.92, Z:1.22 [[-8.70013803e-01 4.93026895e-01 6.80848269e-04 1.31036687e+02] [-4.93026770e-01 -8.70014069e-01 3.52757747e-04 1.11923909e+02] [ 7.66266630e-04 -2.87723140e-05 9.99999706e-01 1.21712260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.671858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.04, Y:111.92, Z:1.22 [[-8.70018722e-01 4.93018214e-01 6.80979564e-04 1.31036032e+02] [-4.93018089e-01 -8.70018988e-01 3.52504107e-04 1.11924075e+02] [ 7.66256097e-04 -2.90500706e-05 9.99999706e-01 1.21701266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.701858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:131.04, Y:111.92, Z:1.22 [[-8.69032234e-01 4.94755002e-01 6.81110680e-04 1.31035400e+02] [-4.94754878e-01 -8.69032501e-01 3.52250583e-04 1.11923630e+02] [ 7.66185055e-04 -3.08657199e-05 9.99999706e-01 1.21692262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.731858064 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:131.03, Y:111.92, Z:1.22 [[-8.68500919e-01 4.95687088e-01 6.81241553e-04 1.31032768e+02] [-4.95686964e-01 -8.68501186e-01 3.51997296e-04 1.11922646e+02] [ 7.66139611e-04 -3.19725825e-05 9.99999706e-01 1.21643122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.761858064 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:131.03, Y:111.92, Z:1.22 [[-8.67772001e-01 4.96962061e-01 6.81372290e-04 1.31030472e+02] [-4.96961938e-01 -8.67772268e-01 3.51744042e-04 1.11920460e+02] [ 7.66079421e-04 -3.33824624e-05 9.99999706e-01 1.21709930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.791858064 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:131.03, Y:111.92, Z:1.22 [[-8.66971583e-01 4.98357110e-01 6.81502975e-04 1.31030131e+02] [-4.98356987e-01 -8.66971851e-01 3.51490658e-04 1.11919929e+02] [ 7.66011764e-04 -3.48993576e-05 9.99999706e-01 1.21689496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.821858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.03, Y:111.92, Z:1.22 [[-8.64781397e-01 5.02148057e-01 6.81633481e-04 1.31030581e+02] [-5.02147936e-01 -8.64781665e-01 3.51237389e-04 1.11920752e+02] [ 7.65837309e-04 -3.85372856e-05 9.99999706e-01 1.21730619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:111.92, Z:1.22 [[-8.64153137e-01 5.03228468e-01 6.81763662e-04 1.31031091e+02] [-5.03228347e-01 -8.64153405e-01 3.50984521e-04 1.11920932e+02] [ 7.65773793e-04 -3.97784265e-05 9.99999706e-01 1.21781330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:111.92, Z:1.22 [[-8.63673351e-01 5.04051463e-01 6.81893478e-04 1.31029560e+02] [-5.04051343e-01 -8.63673619e-01 3.50732133e-04 1.11919371e+02] [ 7.65720453e-04 -4.07913264e-05 9.99999706e-01 1.21841593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:111.92, Z:1.22 [[-8.61873992e-01 5.07122034e-01 6.82023055e-04 1.31036636e+02] [-5.07121915e-01 -8.61874260e-01 3.50479980e-04 1.11920514e+02] [ 7.65554237e-04 -4.37992581e-05 9.99999706e-01 1.21688707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:111.92, Z:1.22 [[-8.61634198e-01 5.07529353e-01 6.81406131e-04 1.31031205e+02] [-5.07529233e-01 -8.61634467e-01 3.51681304e-04 1.11918352e+02] [ 7.65611593e-04 -4.28128927e-05 9.99999706e-01 1.21856012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:111.92, Z:1.22 [[-8.60577552e-01 5.09318968e-01 6.82263439e-04 1.31031303e+02] [-5.09318850e-01 -8.60577821e-01 3.50010180e-04 1.11918514e+02] [ 7.65407608e-04 -4.62787260e-05 9.99999706e-01 1.21864090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:111.91, Z:1.22 [[-8.58900294e-01 5.12142383e-01 6.82392212e-04 1.31025737e+02] [-5.12142265e-01 -8.58900563e-01 3.49758940e-04 1.11913888e+02] [ 7.65233432e-04 -4.90738368e-05 9.99999706e-01 1.21912098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:111.92, Z:1.22 [[-8.57682369e-01 5.14179432e-01 6.82520975e-04 1.31031564e+02] [-5.14179316e-01 -8.57682639e-01 3.49507491e-04 1.11916900e+02] [ 7.65095954e-04 -5.11717551e-05 9.99999706e-01 1.21925776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:111.91, Z:1.22 [[-8.57050933e-01 5.15231241e-01 6.82649419e-04 1.31025934e+02] [-5.15231125e-01 -8.57051204e-01 3.49256436e-04 1.11913328e+02] [ 7.65013333e-04 -5.23916739e-05 9.99999706e-01 1.21943142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:111.91, Z:1.22 [[-8.57934801e-01 5.13758126e-01 6.82777588e-04 1.31025378e+02] [-5.13758010e-01 -8.57935071e-01 3.49005694e-04 1.11914975e+02] [ 7.65083349e-04 -5.13583245e-05 9.99999706e-01 1.21744074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.32, Y:111.21, Z:2.19 [[-8.92640898e-01 -4.50767966e-01 -6.84044766e-04 1.31316616e+02] [-4.50767833e-01 8.92641160e-01 -3.46518774e-04 1.11208999e+02] [ 7.66806076e-04 -9.71452783e-07 -9.99999706e-01 2.19462294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.91, Y:111.89, Z:1.22 [[-8.15538997e-01 5.78701750e-01 6.54789484e-04 1.30911871e+02] [-5.78701618e-01 -8.15539258e-01 3.95013456e-04 1.11890437e+02] [ 7.62601508e-04 -5.67788557e-05 9.99999708e-01 1.21859280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.24, Y:111.20, Z:2.20 [[-8.58643725e-01 -5.12572457e-01 -6.55431243e-04 1.31241524e+02] [-5.12572306e-01 8.58643975e-01 -3.93948549e-04 1.11199677e+02] [ 7.64709263e-04 -2.30554650e-06 -9.99999708e-01 2.19628405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21185806399998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:130.77, Y:111.84, Z:1.22 [[-7.71390189e-01 6.36362152e-01 6.22743628e-04 1.30767208e+02] [-6.36362002e-01 -7.71390439e-01 4.40477208e-04 1.11835695e+02] [ 7.60681504e-04 -5.65105847e-05 9.99999709e-01 1.22184540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:111.84, Z:1.22 [[-7.71712297e-01 6.35971494e-01 6.24282042e-04 1.30776186e+02] [-6.35971346e-01 -7.71712547e-01 4.38285934e-04 1.11841324e+02] [ 7.60503645e-04 -5.87948461e-05 9.99999709e-01 1.22135863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27185806399999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:130.78, Y:111.84, Z:1.22 [[-7.72025896e-01 6.35590769e-01 6.24442862e-04 1.30776898e+02] [-6.35590621e-01 -7.72026146e-01 4.38056688e-04 1.11842756e+02] [ 7.60511004e-04 -5.86989196e-05 9.99999709e-01 1.22093760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.77, Y:111.84, Z:1.22 [[-7.72401643e-01 6.35134090e-01 6.24602655e-04 1.30770869e+02] [-6.35133942e-01 -7.72401893e-01 4.37828728e-04 1.11841308e+02] [ 7.60524224e-04 -5.85267179e-05 9.99999709e-01 1.22170562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.77, Y:111.84, Z:1.22 [[-7.73828502e-01 6.33394868e-01 6.24803186e-04 1.30768117e+02] [-6.33394720e-01 -7.73828752e-01 4.37542374e-04 1.11837959e+02] [ 7.60627764e-04 -5.71642788e-05 9.99999709e-01 1.22265296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.361858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.05, Y:111.10, Z:2.19 [[-8.18664681e-01 -5.74271494e-01 -6.24962893e-04 1.31049705e+02] [-5.74271327e-01 8.18664920e-01 -4.37314137e-04 1.11101404e+02] [ 7.62772240e-04 8.84631092e-07 -9.99999709e-01 2.19394186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.11, Y:111.19, Z:2.19 [[-7.75256733e-01 -6.31645952e-01 -6.24962893e-04 1.31107781e+02] [-6.31645803e-01 7.75256982e-01 -4.37314137e-04 1.11192207e+02] [ 7.60734551e-04 5.57244588e-05 -9.99999709e-01 2.19177576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.421858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.91, Y:111.04, Z:2.19 [[-7.22043646e-01 -6.91847289e-01 -5.48558108e-04 1.30911504e+02] [-6.91847095e-01 7.22043855e-01 -5.18195683e-04 1.11042270e+02] [ 7.54595290e-04 5.35843367e-06 -9.99999715e-01 2.19290008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.99, Y:111.18, Z:2.19 [[-6.69870740e-01 -7.42477535e-01 -5.48558108e-04 1.30987735e+02] [-7.42477357e-01 6.69870962e-01 -5.18195683e-04 1.11179503e+02] [ 7.52211801e-04 6.01678489e-05 -9.99999715e-01 2.19183505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.481858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:130.36, Y:111.67, Z:1.22 [[-5.67832970e-01 8.23143672e-01 4.62144451e-04 1.30358813e+02] [-8.23143465e-01 -5.67833156e-01 5.86309221e-04 1.11665581e+02] [ 7.45037667e-04 -4.74854786e-05 9.99999721e-01 1.22343348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.511858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.36, Y:111.66, Z:1.22 [[-5.72237796e-01 8.20087612e-01 4.62387991e-04 1.30357525e+02] [-8.20087404e-01 -5.72237981e-01 5.86117093e-04 1.11662643e+02] [ 7.45263337e-04 -4.38002137e-05 9.99999721e-01 1.22247047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:111.66, Z:1.22 [[-5.74510799e-01 8.18496871e-01 4.62631795e-04 1.30353308e+02] [-8.18496663e-01 -5.74510984e-01 5.85924590e-04 1.11657095e+02] [ 7.45364492e-04 -4.20425761e-05 9.99999721e-01 1.22166340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:111.65, Z:1.22 [[-5.77002806e-01 8.16742032e-01 4.62875782e-04 1.30349457e+02] [-8.16741823e-01 -5.77002991e-01 5.85731779e-04 1.11652347e+02] [ 7.45472474e-04 -4.00811298e-05 9.99999721e-01 1.22077771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.601858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.35, Y:111.65, Z:1.22 [[-5.80683849e-01 8.14129015e-01 4.63396036e-04 1.30345487e+02] [-8.14128805e-01 -5.80684033e-01 5.85319896e-04 1.11646937e+02] [ 7.45612589e-04 -3.73782513e-05 9.99999721e-01 1.22113526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:111.47, Z:1.22 [[-5.80499155e-01 8.14260718e-01 4.63640287e-04 1.30203818e+02] [-8.14260508e-01 -5.80499339e-01 5.85126357e-04 1.11467973e+02] [ 7.45588288e-04 -3.78586196e-05 9.99999721e-01 1.21995876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:111.64, Z:1.22 [[-5.82643329e-01 8.12727836e-01 4.63760038e-04 1.30336468e+02] [-8.12727626e-01 -5.82643513e-01 5.85031387e-04 1.11637397e+02] [ 7.45678071e-04 -3.60459599e-05 9.99999721e-01 1.22172915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:111.64, Z:1.22 [[-5.83386138e-01 8.12194803e-01 4.64443736e-04 1.30336011e+02] [-8.12194594e-01 -5.83386321e-01 5.84488109e-04 1.11636790e+02] [ 7.45668328e-04 -3.62364317e-05 9.99999721e-01 1.22201944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.721858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.33, Y:111.64, Z:1.22 [[-5.84217071e-01 8.11597313e-01 4.64688328e-04 1.30334457e+02] [-8.11597103e-01 -5.84217255e-01 5.84293585e-04 1.11635535e+02] [ 7.45690043e-04 -3.57854136e-05 9.99999721e-01 1.22151811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.33, Y:111.63, Z:1.22 [[-5.85094020e-01 8.10965334e-01 4.64960302e-04 1.30329358e+02] [-8.10965124e-01 -5.85094203e-01 5.84077078e-04 1.11629982e+02] [ 7.45711840e-04 -3.53265833e-05 9.99999721e-01 1.22179511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.33, Y:111.63, Z:1.22 [[-5.85989832e-01 8.10318271e-01 4.65204551e-04 1.30326932e+02] [-8.10318061e-01 -5.85990016e-01 5.83882474e-04 1.11626440e+02] [ 7.45735859e-04 -3.48144565e-05 9.99999721e-01 1.22199138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.811858064 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:130.50, Y:110.56, Z:2.19 [[-5.93261697e-01 -8.05009529e-01 -4.65505053e-04 1.30503589e+02] [-8.05009318e-01 5.93261879e-01 -5.83642798e-04 1.10558081e+02] [ 7.46004416e-04 2.84829880e-05 -9.99999721e-01 2.19447429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.25, Y:111.62, Z:1.22 [[-5.24305793e-01 8.51529956e-01 4.10596572e-04 1.30253617e+02] [-8.51529730e-01 -5.24305953e-01 6.20849587e-04 1.11617610e+02] [ 7.43950249e-04 -2.41201526e-05 9.99999723e-01 1.22113717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.871858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.25, Y:111.61, Z:1.22 [[-5.25316676e-01 8.50906701e-01 4.19541099e-04 1.30249215e+02] [-8.50906480e-01 -5.25316842e-01 6.14745276e-04 1.11610469e+02] [ 7.43482880e-04 -3.40542949e-05 9.99999723e-01 1.22066570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.25, Y:111.61, Z:1.22 [[-5.25123947e-01 8.51025654e-01 4.19827771e-04 1.30247042e+02] [-8.51025433e-01 -5.25124114e-01 6.14549436e-04 1.11607712e+02] [ 7.43459022e-04 -3.45694855e-05 9.99999723e-01 1.21961312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.25, Y:111.61, Z:1.22 [[-5.24450615e-01 8.51440765e-01 4.20114759e-04 1.30247158e+02] [-8.51440544e-01 -5.24450782e-01 6.14353185e-04 1.11608372e+02] [ 7.43414859e-04 -3.55048335e-05 9.99999723e-01 1.21922418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96185806399998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:130.25, Y:111.61, Z:1.22 [[-5.24233265e-01 8.51574605e-01 4.20371860e-04 1.30245550e+02] [-8.51574384e-01 -5.24233432e-01 6.14177213e-04 1.11606316e+02] [ 7.43390700e-04 -3.60057819e-05 9.99999723e-01 1.21887282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.20, Y:111.54, Z:1.22 [[-5.26024068e-01 8.50469578e-01 4.20657758e-04 1.30199288e+02] [-8.50469357e-01 -5.26024235e-01 6.13981335e-04 1.11543134e+02] [ 7.43448622e-04 -3.47875735e-05 9.99999723e-01 1.21987355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02185806399996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.81, Y:111.08, Z:2.20 [[-5.52913795e-01 -8.33238356e-01 -4.20657758e-04 1.30814667e+02] [-8.33238130e-01 5.52913955e-01 -6.13981335e-04 1.11077951e+02] [ 7.44180343e-04 1.10293340e-05 -9.99999723e-01 2.19667672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.051858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.12, Y:111.48, Z:1.22 [[-4.62818682e-01 8.86452890e-01 3.77496146e-04 1.30122280e+02] [-8.86452660e-01 -4.62818834e-01 6.39461136e-04 1.11481195e+02] [ 7.41564498e-04 -3.86779032e-05 9.99999724e-01 1.21888615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08185806399996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.12, Y:111.48, Z:1.22 [[-4.62293687e-01 8.86726792e-01 3.77793392e-04 1.30120969e+02] [-8.86726563e-01 -4.62293840e-01 6.39285475e-04 1.11479190e+02] [ 7.41523117e-04 -3.94617964e-05 9.99999724e-01 1.21958794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:111.39, Z:1.22 [[-4.61245735e-01 8.87272353e-01 3.78090354e-04 1.30066242e+02] [-8.87272124e-01 -4.61245888e-01 6.39109796e-04 1.11386587e+02] [ 7.41457074e-04 -4.06823642e-05 9.99999724e-01 1.22068045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14185806399996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.08, Y:111.42, Z:1.22 [[-4.60579426e-01 8.87618414e-01 3.78232102e-04 1.30084856e+02] [-8.87618185e-01 -4.60579579e-01 6.39025862e-04 1.11418085e+02] [ 7.41417104e-04 -4.14035272e-05 9.99999724e-01 1.22055419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.171858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.62, Y:110.79, Z:2.20 [[-4.99297049e-01 -8.66430790e-01 -3.79325648e-04 1.30621952e+02] [-8.66430555e-01 4.99297193e-01 -6.38377207e-04 1.10793075e+02] [ 7.42505899e-04 9.91947601e-06 -9.99999724e-01 2.19584620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.02, Y:111.37, Z:1.22 [[-3.96887006e-01 9.17867416e-01 3.32299245e-04 1.30015209e+02] [-9.17867178e-01 -3.96887143e-01 6.62042660e-04 1.11373064e+02] [ 7.39552683e-04 -4.22504409e-05 9.99999726e-01 1.22059003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.231858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.02, Y:111.37, Z:1.22 [[-3.96216100e-01 9.18157226e-01 3.32058522e-04 1.30015794e+02] [-9.18156988e-01 -3.96216237e-01 6.62164015e-04 1.11374431e+02] [ 7.39537653e-04 -4.25218087e-05 9.99999726e-01 1.22115792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26185806399997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.00, Y:111.35, Z:1.22 [[-3.95448741e-01 9.18487988e-01 3.32119841e-04 1.30002604e+02] [-9.18487750e-01 -3.95448878e-01 6.62133061e-04 1.11348670e+02] [ 7.39497681e-04 -4.32083206e-05 9.99999726e-01 1.22308691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29185806399994 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:130.00, Y:111.33, Z:1.22 [[-3.95814755e-01 9.18330316e-01 3.32839814e-04 1.29996105e+02] [-9.18330079e-01 -3.95814892e-01 6.61769217e-04 1.11332087e+02] [ 7.39465689e-04 -4.37187921e-05 9.99999726e-01 1.22232598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.65, Y:110.92, Z:2.19 [[-4.46392631e-01 -8.94837141e-01 -3.32839814e-04 1.30649988e+02] [-8.94836896e-01 4.46392755e-01 -6.61769217e-04 1.10922033e+02] [ 7.40752955e-04 2.42844433e-06 -9.99999726e-01 2.19498235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:111.26, Z:1.22 [[-3.24187631e-01 9.45992757e-01 2.88262918e-04 1.29926047e+02] [-9.45992514e-01 -3.24187755e-01 6.80648087e-04 1.11259485e+02] [ 7.37339469e-04 -5.20368717e-05 9.99999727e-01 1.22064245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:111.23, Z:1.22 [[-3.33110740e-01 9.42887669e-01 2.79228383e-04 1.29908733e+02] [-9.42887422e-01 -3.33110855e-01 6.84473547e-04 1.11230275e+02] [ 7.38395673e-04 -3.52754398e-05 9.99999727e-01 1.22194807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:111.22, Z:1.22 [[-3.35996832e-01 9.41863072e-01 2.88878302e-04 1.29906041e+02] [-9.41862827e-01 -3.35996953e-01 6.80376326e-04 1.11224873e+02] [ 7.37883565e-04 -4.34794445e-05 9.99999727e-01 1.22208506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.441858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:129.90, Y:111.20, Z:1.22 [[-3.38118726e-01 9.41103418e-01 2.89192589e-04 1.29895544e+02] [-9.41103173e-01 -3.38118847e-01 6.80242713e-04 1.11201315e+02] [ 7.37960207e-04 -4.21572635e-05 9.99999727e-01 1.22261360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:110.81, Z:2.19 [[-3.80117438e-01 -9.24938187e-01 -2.89192589e-04 1.30570236e+02] [-9.24937937e-01 3.80117547e-01 -6.80242713e-04 1.10809520e+02] [ 7.39109639e-04 8.91307938e-06 -9.99999727e-01 2.19374124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:111.07, Z:1.22 [[-2.81015514e-01 9.59703195e-01 2.42147401e-04 1.29808069e+02] [-9.59702943e-01 -2.81015616e-01 6.96596331e-04 1.11065902e+02] [ 7.36572926e-04 -3.66351975e-05 9.99999728e-01 1.22249441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53185806399995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:129.81, Y:111.08, Z:1.22 [[-2.75022108e-01 9.61437872e-01 2.42504627e-04 1.29814850e+02] [-9.61437620e-01 -2.75022212e-01 6.96471949e-04 1.11077385e+02] [ 7.36308667e-04 -4.16078874e-05 9.99999728e-01 1.22093789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.561858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.80, Y:111.05, Z:1.22 [[-2.85410368e-01 9.58405377e-01 2.35428235e-04 1.29799948e+02] [-9.58405122e-01 -2.85410464e-01 6.98937388e-04 1.11051811e+02] [ 7.37059033e-04 -2.61516495e-05 9.99999728e-01 1.22399576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:111.04, Z:1.22 [[-2.87674104e-01 9.57728328e-01 2.43204200e-04 1.29795873e+02] [-9.57728076e-01 -2.87674205e-01 6.96221085e-04 1.11040862e+02] [ 7.36754231e-04 -3.26387134e-05 9.99999728e-01 1.22356094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:111.03, Z:1.22 [[-2.91288319e-01 9.56635279e-01 2.43041195e-04 1.29788189e+02] [-9.56635026e-01 -2.91288418e-01 6.96278157e-04 1.11025681e+02] [ 7.36879334e-04 -2.96840259e-05 9.99999728e-01 1.22414045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:111.06, Z:1.22 [[-2.88356820e-01 9.57522994e-01 2.44089557e-04 1.29801570e+02] [-9.57522742e-01 -2.88356921e-01 6.95910445e-04 1.11058175e+02] [ 7.36735167e-04 -3.30507785e-05 9.99999728e-01 1.22294320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:111.05, Z:1.22 [[-2.97002405e-01 9.54876701e-01 2.38620291e-04 1.29795896e+02] [-9.54876446e-01 -2.97002501e-01 6.97829747e-04 1.11045079e+02] [ 7.37212190e-04 -2.05957822e-05 9.99999728e-01 1.22272210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:111.02, Z:1.22 [[-3.03095944e-01 9.52960015e-01 2.41563637e-04 1.29785129e+02] [-9.52959761e-01 -3.03096040e-01 6.96794514e-04 1.11019981e+02] [ 7.37234292e-04 -1.90048351e-05 9.99999728e-01 1.22410641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:110.66, Z:2.19 [[-2.94500013e-01 -9.55651445e-01 -2.41563637e-04 1.30490780e+02] [-9.55651191e-01 2.94500111e-01 -6.96794514e-04 1.10657265e+02] [ 7.37033202e-04 2.56445846e-05 -9.99999728e-01 2.19334666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:110.87, Z:1.22 [[-2.47069899e-01 9.68997640e-01 1.97091396e-04 1.29699242e+02] [-9.68997381e-01 -2.47069977e-01 7.09154440e-04 1.10866353e+02] [ 7.35864345e-04 -1.57703306e-05 9.99999729e-01 1.22239214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:110.86, Z:1.22 [[-2.50934363e-01 9.68004084e-01 1.97459760e-04 1.29697297e+02] [-9.68003824e-01 -2.50934440e-01 7.09051856e-04 1.10858118e+02] [ 7.35914547e-04 -1.32163268e-05 9.99999729e-01 1.22229615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:110.85, Z:1.22 [[-2.54647430e-01 9.67033943e-01 1.97829307e-04 1.29696126e+02] [-9.67033683e-01 -2.54647507e-01 7.08948736e-04 1.10853083e+02] [ 7.35954231e-04 -1.07756301e-05 9.99999729e-01 1.22225173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:110.85, Z:1.22 [[-2.57522043e-01 9.66272404e-01 1.98199327e-04 1.29693610e+02] [-9.66272144e-01 -2.57522119e-01 7.08845275e-04 1.10846795e+02] [ 7.35978338e-04 -8.97120542e-06 9.99999729e-01 1.22213519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:110.84, Z:1.22 [[-2.64019324e-01 9.64517370e-01 1.98569534e-04 1.29691915e+02] [-9.64517110e-01 -2.64019398e-01 7.08741553e-04 1.10839892e+02] [ 7.36019748e-04 -4.40224706e-06 9.99999729e-01 1.22292688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:110.83, Z:1.22 [[-2.66632525e-01 9.63798245e-01 1.98940261e-04 1.29688419e+02] [-9.63797984e-01 -2.66632599e-01 7.08637477e-04 1.10830820e+02] [ 7.36027515e-04 -2.79242250e-06 9.99999729e-01 1.22309321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:110.81, Z:1.22 [[-2.68694546e-01 9.63225416e-01 1.99382224e-04 1.29681120e+02] [-9.63225155e-01 -2.68694620e-01 7.08513104e-04 1.10808635e+02] [ 7.36030760e-04 -1.67636649e-06 9.99999729e-01 1.22319007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.67, Y:110.79, Z:1.23 [[-2.72599284e-01 9.62127637e-01 1.99756473e-04 1.29673966e+02] [-9.62127376e-01 -2.72599357e-01 7.08407574e-04 1.10785513e+02] [ 7.36031991e-04 9.20226205e-07 9.99999729e-01 1.22558939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:110.81, Z:1.22 [[-2.76166883e-01 9.61109678e-01 2.00171740e-04 1.29681635e+02] [-9.61109417e-01 -2.76166955e-01 7.08290214e-04 1.10811142e+02] [ 7.36025399e-04 3.21935615e-06 9.99999729e-01 1.22454233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:110.80, Z:1.22 [[-2.78460386e-01 9.60447694e-01 2.00584887e-04 1.29678352e+02] [-9.60447433e-01 -2.78460458e-01 7.08173193e-04 1.10801423e+02] [ 7.36018270e-04 4.54694051e-06 9.99999729e-01 1.22395965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:110.78, Z:1.22 [[-2.80535076e-01 9.59843753e-01 2.00958565e-04 1.29670962e+02] [-9.59843492e-01 -2.80535148e-01 7.08067138e-04 1.10775587e+02] [ 7.36009761e-04 5.74889801e-06 9.99999729e-01 1.22429393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:110.79, Z:1.22 [[-2.83521100e-01 9.58965977e-01 2.01335890e-04 1.29675083e+02] [-9.58965716e-01 -2.83521172e-01 7.07959831e-04 1.10787671e+02] [ 7.35992379e-04 7.64733423e-06 9.99999729e-01 1.22321687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:110.79, Z:1.22 [[-2.83221331e-01 9.59054554e-01 2.01749521e-04 1.29675633e+02] [-9.59054292e-01 -2.83221403e-01 7.07841938e-04 1.10788577e+02] [ 7.35998816e-04 6.98719236e-06 9.99999729e-01 1.22218282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:110.78, Z:1.22 [[-2.83973304e-01 9.58832166e-01 2.02123955e-04 1.29674901e+02] [-9.58831905e-01 -2.83973376e-01 7.07735003e-04 1.10783736e+02] [ 7.35996907e-04 7.17495047e-06 9.99999729e-01 1.22216352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:110.78, Z:1.22 [[-2.83925050e-01 9.58846456e-01 2.02497547e-04 1.29672750e+02] [-9.58846194e-01 -2.83925122e-01 7.07628094e-04 1.10778053e+02] [ 7.36000830e-04 6.74933965e-06 9.99999729e-01 1.22264249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22185806399995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.67, Y:110.78, Z:1.22 [[-2.82978280e-01 9.59126296e-01 2.02871181e-04 1.29671408e+02] [-9.59126035e-01 -2.82978353e-01 7.07520960e-04 1.10775045e+02] [ 7.36010110e-04 5.63403299e-06 9.99999729e-01 1.22235853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:110.76, Z:1.22 [[-2.82537188e-01 9.59256325e-01 2.03244759e-04 1.29667706e+02] [-9.59256064e-01 -2.82537261e-01 7.07413628e-04 1.10764748e+02] [ 7.36015215e-04 4.90689019e-06 9.99999729e-01 1.22314121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28185806399995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.67, Y:110.77, Z:1.22 [[-2.82572463e-01 9.59245934e-01 2.03618866e-04 1.29669017e+02] [-9.59245673e-01 -2.82572537e-01 7.07305931e-04 1.10768313e+02] [ 7.36017437e-04 4.54466239e-06 9.99999729e-01 1.22314424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:110.76, Z:1.22 [[-2.82952163e-01 9.59134001e-01 2.03992624e-04 1.29666690e+02] [-9.59133740e-01 -2.82952236e-01 7.07198120e-04 1.10757106e+02] [ 7.36017931e-04 4.44702921e-06 9.99999729e-01 1.22320030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34185806399995 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:129.69, Y:110.80, Z:1.22 [[-2.63515270e-01 9.64655203e-01 2.04366030e-04 1.29691945e+02] [-9.64654944e-01 -2.63515349e-01 7.07090196e-04 1.10800883e+02] [ 7.35951822e-04 -1.08136380e-05 9.99999729e-01 1.22048420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:110.73, Z:1.22 [[-2.85825773e-01 9.58281584e-01 1.82598411e-04 1.29659185e+02] [-9.58281319e-01 -2.85825830e-01 7.13442072e-04 1.10728016e+02] [ 7.35869741e-04 2.89394860e-05 9.99999729e-01 1.22276301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40185806399995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:129.66, Y:110.72, Z:1.22 [[-2.85704591e-01 9.58317716e-01 2.07319336e-04 1.29657101e+02] [-9.58317455e-01 -2.85704666e-01 7.06184584e-04 1.10721777e+02] [ 7.35981299e-04 3.08243891e-06 9.99999729e-01 1.22255043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:110.72, Z:1.22 [[-2.86519092e-01 9.58074510e-01 2.05626178e-04 1.29656035e+02] [-9.58074250e-01 -2.86519166e-01 7.06682915e-04 1.10716120e+02] [ 7.35970729e-04 5.47300136e-06 9.99999729e-01 1.22318149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:110.71, Z:1.22 [[-2.86053742e-01 9.58213553e-01 2.08347326e-04 1.29655017e+02] [-9.58213293e-01 -2.86053818e-01 7.05879742e-04 1.10711637e+02] [ 7.35982083e-04 2.27836376e-06 9.99999729e-01 1.22424640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:110.77, Z:1.22 [[-2.60815029e-01 9.65388771e-01 2.04623840e-04 1.29688186e+02] [-9.65388512e-01 -2.60815109e-01 7.06980501e-04 1.10765011e+02] [ 7.35880026e-04 -1.31503646e-05 9.99999729e-01 1.22364194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52185806399996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.65, Y:110.70, Z:1.23 [[-2.87794953e-01 9.57692034e-01 1.79686069e-04 1.29652821e+02] [-9.57691769e-01 -2.87795007e-01 7.14337836e-04 1.10703907e+02] [ 7.35828409e-04 3.34989548e-05 9.99999729e-01 1.22604797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.551858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:129.65, Y:110.69, Z:1.22 [[-2.86386663e-01 9.58114104e-01 2.09600153e-04 1.29651345e+02] [-9.58113844e-01 -2.86386739e-01 7.05449896e-04 1.10693458e+02] [ 7.35928199e-04 1.21063268e-06 9.99999729e-01 1.22299622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:110.69, Z:1.22 [[-2.85008682e-01 9.58524913e-01 2.07430751e-04 1.29650402e+02] [-9.58524653e-01 -2.85008758e-01 7.06097936e-04 1.10688822e+02] [ 7.35932043e-04 2.41655414e-06 9.99999729e-01 1.22226990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.611858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:129.65, Y:110.69, Z:1.22 [[-2.85218211e-01 9.58462587e-01 2.05162299e-04 1.29650235e+02] [-9.58462326e-01 -2.85218285e-01 7.06776431e-04 1.10685094e+02] [ 7.35934805e-04 4.94517550e-06 9.99999729e-01 1.22338731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:110.68, Z:1.22 [[-2.83894137e-01 9.58855607e-01 2.11473831e-04 1.29650991e+02] [-9.58855348e-01 -2.83894216e-01 7.04882891e-04 1.10684139e+02] [ 7.35917109e-04 -2.66069348e-06 9.99999729e-01 1.22317248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:110.76, Z:1.22 [[-2.51422587e-01 9.67877388e-01 2.11843591e-04 1.29692695e+02] [-9.67877132e-01 -2.51422675e-01 7.04771747e-04 1.10760418e+02] [ 7.35394919e-04 -2.78430318e-05 9.99999729e-01 1.22109676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:110.76, Z:1.22 [[-2.50999016e-01 9.67987327e-01 1.73001973e-04 1.29695246e+02] [-9.67987062e-01 -2.50999075e-01 7.16338393e-04 1.10761799e+02] [ 7.36829821e-04 1.23365603e-05 9.99999728e-01 1.22079711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.731858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:129.69, Y:110.75, Z:1.22 [[-2.50209341e-01 9.68191746e-01 1.70390726e-04 1.29694672e+02] [-9.68191480e-01 -2.50209399e-01 7.17117621e-04 1.10753950e+02] [ 7.36940722e-04 1.44586787e-05 9.99999728e-01 1.22035274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76185806399997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.70, Y:110.76, Z:1.22 [[-2.49591873e-01 9.68351108e-01 1.69724057e-04 1.29697540e+02] [-9.68350842e-01 -2.49591930e-01 7.17316769e-04 1.10758811e+02] [ 7.36976243e-04 1.46840022e-05 9.99999728e-01 1.22032964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79185806399994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.70, Y:110.74, Z:1.22 [[-2.50253684e-01 9.68180285e-01 1.71620736e-04 1.29695069e+02] [-9.68180020e-01 -2.50253742e-01 7.16748895e-04 1.10743782e+02] [ 7.36890880e-04 1.32092843e-05 9.99999728e-01 1.22139059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82185806399997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:129.69, Y:110.74, Z:1.22 [[-2.52225246e-01 9.67668536e-01 1.74411068e-04 1.29692696e+02] [-9.67668271e-01 -2.52225306e-01 7.15910855e-04 1.10735128e+02] [ 7.36755294e-04 1.17987353e-05 9.99999729e-01 1.22267980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:110.73, Z:1.22 [[-2.51810318e-01 9.67776593e-01 1.74885794e-04 1.29698325e+02] [-9.67776328e-01 -2.51810378e-01 7.15767942e-04 1.10734219e+02] [ 7.36741518e-04 1.09874212e-05 9.99999729e-01 1.22319449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88185806399997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.70, Y:110.73, Z:1.22 [[-2.48834745e-01 9.68545941e-01 1.72712898e-04 1.29699679e+02] [-9.68545676e-01 -2.48834805e-01 7.16423086e-04 1.10731685e+02] [ 7.36865653e-04 1.09906257e-05 9.99999728e-01 1.22196648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:110.72, Z:1.22 [[-2.51885142e-01 9.67757122e-01 1.68611380e-04 1.29697557e+02] [-9.67756856e-01 -2.51885198e-01 7.17662284e-04 1.10724929e+02] [ 7.36993497e-04 1.75936471e-05 9.99999728e-01 1.22081958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:110.72, Z:1.22 [[-2.52490975e-01 9.67599235e-01 1.67061921e-04 1.29696407e+02] [-9.67598969e-01 -2.52491029e-01 7.18131498e-04 1.10721140e+02] [ 7.37045125e-04 1.96727794e-05 9.99999728e-01 1.22082189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:110.71, Z:1.22 [[-2.51176222e-01 9.67941361e-01 1.67523261e-04 1.29695164e+02] [-9.67941094e-01 -2.51176277e-01 7.17991401e-04 1.10714710e+02] [ 7.37051442e-04 1.81897194e-05 9.99999728e-01 1.22095192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:110.70, Z:1.22 [[-2.54214127e-01 9.67147947e-01 1.63342927e-04 1.29690890e+02] [-9.67147680e-01 -2.54214178e-01 7.19263920e-04 1.10702411e+02] [ 7.37158711e-04 2.48703171e-05 9.99999728e-01 1.21878023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:110.71, Z:1.22 [[-2.55204064e-01 9.66887200e-01 1.68804939e-04 1.29693903e+02] [-9.66886934e-01 -2.55204119e-01 7.17596771e-04 1.10710307e+02] [ 7.36914849e-04 1.99183222e-05 9.99999728e-01 1.21999082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.69, Y:110.70, Z:1.22 [[-2.55803211e-01 9.66728861e-01 1.65333633e-04 1.29689828e+02] [-9.66728594e-01 -2.55803263e-01 7.18657527e-04 1.10701062e+02] [ 7.37039855e-04 2.40021527e-05 9.99999728e-01 1.21864346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09185806399995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:129.68, Y:110.69, Z:1.22 [[-2.55270517e-01 9.66869657e-01 1.70062140e-04 1.29683908e+02] [-9.66869391e-01 -2.55270573e-01 7.17207849e-04 1.10693952e+02] [ 7.36858367e-04 1.86541404e-05 9.99999728e-01 1.21770778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:110.70, Z:1.22 [[-2.55505409e-01 9.66807611e-01 1.72921565e-04 1.29678229e+02] [-9.66807346e-01 -2.55505467e-01 7.16329317e-04 1.10695655e+02] [ 7.36735040e-04 1.58441760e-05 9.99999729e-01 1.21925610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:110.69, Z:1.22 [[-2.56220044e-01 9.66618467e-01 1.70736330e-04 1.29672075e+02] [-9.66618201e-01 -2.56220100e-01 7.17002226e-04 1.10685597e+02] [ 7.36813671e-04 1.86734976e-05 9.99999728e-01 1.22145313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:110.67, Z:1.22 [[-2.58433984e-01 9.66028905e-01 1.73518752e-04 1.29666771e+02] [-9.66028640e-01 -2.58434042e-01 7.16142629e-04 1.10673698e+02] [ 7.36657632e-04 1.74515095e-05 9.99999729e-01 1.22349096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:110.67, Z:1.22 [[-2.60215313e-01 9.65550599e-01 1.75160732e-04 1.29663762e+02] [-9.65550334e-01 -2.60215372e-01 7.15634141e-04 1.10670904e+02] [ 7.36560489e-04 1.70924583e-05 9.99999729e-01 1.22496009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:110.66, Z:1.23 [[-2.61856426e-01 9.65106823e-01 1.78931825e-04 1.29658610e+02] [-9.65106559e-01 -2.61856487e-01 7.14463094e-04 1.10660090e+02] [ 7.36387666e-04 1.43984740e-05 9.99999729e-01 1.22509053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:110.67, Z:1.23 [[-2.63355065e-01 9.64698957e-01 1.78599855e-04 1.29660422e+02] [-9.64698693e-01 -2.63355125e-01 7.14566336e-04 1.10667442e+02] [ 7.36376586e-04 1.58896176e-05 9.99999729e-01 1.22576288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:110.67, Z:1.23 [[-2.64605754e-01 9.64356658e-01 1.78964445e-04 1.29658962e+02] [-9.64356393e-01 -2.64605814e-01 7.14452822e-04 1.10666409e+02] [ 7.36342369e-04 1.64628205e-05 9.99999729e-01 1.22537060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:110.66, Z:1.22 [[-2.65844943e-01 9.64015786e-01 1.77057699e-04 1.29656858e+02] [-9.64015521e-01 -2.65845002e-01 7.15047309e-04 1.10662352e+02] [ 7.36386798e-04 1.94053414e-05 9.99999729e-01 1.22455410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:110.66, Z:1.22 [[-2.61307760e-01 9.65255522e-01 1.78723507e-04 1.29659331e+02] [-9.65255258e-01 -2.61307820e-01 7.14526879e-04 1.10663554e+02] [ 7.36402865e-04 1.41976134e-05 9.99999729e-01 1.22013548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:110.65, Z:1.22 [[-2.62570127e-01 9.64912897e-01 1.73514817e-04 1.29656563e+02] [-9.64912631e-01 -2.62570183e-01 7.16156801e-04 1.10654634e+02] [ 7.36588751e-04 2.06147437e-05 9.99999729e-01 1.22024104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:110.65, Z:1.22 [[-2.65002055e-01 9.64247831e-01 1.74420846e-04 1.29652332e+02] [-9.64247566e-01 -2.65002112e-01 7.15872510e-04 1.10647477e+02] [ 7.36500408e-04 2.15228100e-05 9.99999729e-01 1.22142815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45185806399996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:129.65, Y:110.64, Z:1.22 [[-2.66562562e-01 9.63817602e-01 1.75459939e-04 1.29649578e+02] [-9.63817336e-01 -2.66562619e-01 7.15545768e-04 1.10638066e+02] [ 7.36426667e-04 2.16263827e-05 9.99999729e-01 1.22158326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:110.63, Z:1.22 [[-2.67145686e-01 9.63656136e-01 1.85605243e-04 1.29646329e+02] [-9.63655873e-01 -2.67145750e-01 7.12342857e-04 1.10632772e+02] [ 7.36037217e-04 1.14397386e-05 9.99999729e-01 1.22147878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51185806399997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:129.64, Y:110.63, Z:1.22 [[-2.69547572e-01 9.62987058e-01 1.79271877e-04 1.29642834e+02] [-9.62986794e-01 -2.69547630e-01 7.14344936e-04 1.10627701e+02] [ 7.36227238e-04 1.99134929e-05 9.99999729e-01 1.22130088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54185806399994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.64, Y:110.61, Z:1.22 [[-2.67286148e-01 9.63617187e-01 1.80582452e-04 1.29638497e+02] [-9.63616922e-01 -2.67286208e-01 7.13929249e-04 1.10612033e+02] [ 7.36221694e-04 1.68110922e-05 9.99999729e-01 1.22062459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:110.62, Z:1.22 [[-2.68955021e-01 9.63152720e-01 1.85426336e-04 1.29640387e+02] [-9.63152457e-01 -2.68955085e-01 7.12388844e-04 1.10621646e+02] [ 7.36010609e-04 1.30067262e-05 9.99999729e-01 1.22114572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:110.62, Z:1.22 [[-2.67616543e-01 9.63525481e-01 1.80463190e-04 1.29639623e+02] [-9.63525217e-01 -2.67616603e-01 7.13967541e-04 1.10620590e+02] [ 7.36220865e-04 1.71886906e-05 9.99999729e-01 1.22140429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:110.62, Z:1.22 [[-2.70522441e-01 9.62713652e-01 1.79807859e-04 1.29635633e+02] [-9.62713388e-01 -2.70522500e-01 7.14176304e-04 1.10615669e+02] [ 7.36189350e-04 2.00972842e-05 9.99999729e-01 1.22326264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:110.59, Z:1.22 [[-2.71085864e-01 9.62555152e-01 1.83812919e-04 1.29625619e+02] [-9.62554888e-01 -2.71085925e-01 7.12895461e-04 1.10588144e+02] [ 7.36030294e-04 1.63258583e-05 9.99999729e-01 1.22453354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:110.60, Z:1.22 [[-2.64792529e-01 9.64305387e-01 1.95243792e-04 1.29633905e+02] [-9.64305126e-01 -2.64792601e-01 7.09227740e-04 1.10603915e+02] [ 7.35611242e-04 -4.76382133e-07 9.99999729e-01 1.22217497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:110.56, Z:1.22 [[-2.84020693e-01 9.58818130e-01 1.96397147e-04 1.29607773e+02] [-9.58817869e-01 -2.84020761e-01 7.08856701e-04 1.10558299e+02] [ 7.35445524e-04 1.30208778e-05 9.99999729e-01 1.22382310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:110.59, Z:1.22 [[-2.63491686e-01 9.64661640e-01 2.26378545e-04 1.29631371e+02] [-9.64661387e-01 -2.63491781e-01 6.99148978e-04 1.10591099e+02] [ 7.34091086e-04 -3.41586982e-05 9.99999730e-01 1.22100946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:110.61, Z:1.22 [[-2.58315643e-01 9.66060550e-01 2.06067757e-04 1.29636197e+02] [-9.66060292e-01 -2.58315724e-01 7.05705671e-04 1.10611857e+02] [ 7.34984950e-04 -1.67790635e-05 9.99999730e-01 1.22128709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:110.55, Z:1.22 [[-2.77670613e-01 9.60676322e-01 1.85132853e-04 1.29607127e+02] [-9.60676058e-01 -2.77670674e-01 7.12465295e-04 1.10553449e+02] [ 7.35854503e-04 1.99779757e-05 9.99999729e-01 1.22243433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:110.59, Z:1.22 [[-2.57470333e-01 9.66286177e-01 2.27632509e-04 1.29628382e+02] [-9.66285925e-01 -2.57470431e-01 6.98617513e-04 1.10587146e+02] [ 7.33673086e-04 -4.00848056e-05 9.99999730e-01 1.21921647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.871858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:129.63, Y:110.59, Z:1.22 [[-2.53438009e-01 9.67351607e-01 2.08996190e-04 1.29627795e+02] [-9.67351351e-01 -2.53438094e-01 7.04675366e-04 1.10586856e+02] [ 7.34636444e-04 -2.35812248e-05 9.99999730e-01 1.21986108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90185806399995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.63, Y:110.58, Z:1.22 [[-2.52098254e-01 9.67701620e-01 2.11038979e-04 1.29625659e+02] [-9.67701364e-01 -2.52098341e-01 7.04009686e-04 1.10582208e+02] [ 7.34473890e-04 -2.67430951e-05 9.99999730e-01 1.22033795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:110.58, Z:1.22 [[-2.50080748e-01 9.68224961e-01 2.13091706e-04 1.29624660e+02] [-9.68224706e-01 -2.50080836e-01 7.03339491e-04 1.10577489e+02] [ 7.34281003e-04 -3.04289885e-05 9.99999730e-01 1.22109982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:110.55, Z:1.22 [[-2.56145825e-01 9.66638128e-01 2.15490722e-04 1.29606923e+02] [-9.66637873e-01 -2.56145914e-01 7.02554375e-04 1.10546310e+02] [ 7.34312914e-04 -2.83451230e-05 9.99999730e-01 1.22043860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.991858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.63, Y:110.59, Z:1.22 [[-2.41700115e-01 9.70350968e-01 2.29275622e-04 1.29627953e+02] [-9.70350719e-01 -2.41700218e-01 6.98026551e-04 1.10591429e+02] [ 7.32746707e-04 -5.37646674e-05 9.99999730e-01 1.22258093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:110.59, Z:1.22 [[-2.39739778e-01 9.70837160e-01 2.17086643e-04 1.29628115e+02] [-9.70836907e-01 -2.39739873e-01 7.02027567e-04 1.10586846e+02] [ 7.33598774e-04 -4.24517924e-05 9.99999730e-01 1.22172678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.051858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:129.62, Y:110.58, Z:1.22 [[-2.40707367e-01 9.70597711e-01 2.15754004e-04 1.29622024e+02] [-9.70597458e-01 -2.40707460e-01 7.02465774e-04 1.10577616e+02] [ 7.33745271e-04 -4.03216008e-05 9.99999730e-01 1.22378742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08185806399996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:129.60, Y:110.53, Z:1.22 [[-2.50024375e-01 9.68239518e-01 2.19715847e-04 1.29600967e+02] [-9.68239264e-01 -2.50024469e-01 7.01159372e-04 1.10532671e+02] [ 7.33824550e-04 -3.74305758e-05 9.99999730e-01 1.22076450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.60, Y:110.53, Z:1.22 [[-2.50350336e-01 9.68155285e-01 2.30706173e-04 1.29599517e+02] [-9.68155035e-01 -2.50350438e-01 6.97524322e-04 1.10530636e+02] [ 7.33069250e-04 -4.87338940e-05 9.99999730e-01 1.22091385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14185806399996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:129.60, Y:110.52, Z:1.22 [[-2.49812090e-01 9.68294308e-01 2.31062337e-04 1.29598145e+02] [-9.68294058e-01 -2.49812192e-01 6.97406319e-04 1.10524939e+02] [ 7.33016758e-04 -4.95157577e-05 9.99999730e-01 1.22093013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:110.51, Z:1.22 [[-2.51696368e-01 9.67806223e-01 2.31418306e-04 1.29593093e+02] [-9.67805973e-01 -2.51696470e-01 6.97288179e-04 1.10506201e+02] [ 7.33087009e-04 -4.84631167e-05 9.99999730e-01 1.22160826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:110.52, Z:1.22 [[-2.51999632e-01 9.67727302e-01 2.31776117e-04 1.29595618e+02] [-9.67727052e-01 -2.51999734e-01 6.97169223e-04 1.10517148e+02] [ 7.33077211e-04 -4.86096308e-05 9.99999730e-01 1.22020290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:110.51, Z:1.22 [[-2.53905865e-01 9.67228907e-01 2.32133731e-04 1.29594086e+02] [-9.67228657e-01 -2.53905966e-01 6.97050130e-04 1.10512179e+02] [ 7.33147174e-04 -4.75412807e-05 9.99999730e-01 1.22104215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:110.51, Z:1.22 [[-2.55171165e-01 9.66895870e-01 2.32489292e-04 1.29593086e+02] [-9.66895620e-01 -2.55171266e-01 6.96931518e-04 1.10508206e+02] [ 7.33184793e-04 -4.69560511e-05 9.99999730e-01 1.22081289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29185806399994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.59, Y:110.50, Z:1.22 [[-2.55780799e-01 9.66734777e-01 2.32844793e-04 1.29588762e+02] [-9.66734527e-01 -2.55780901e-01 6.96812725e-04 1.10498818e+02] [ 7.33190345e-04 -4.68677855e-05 9.99999730e-01 1.22129616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32185806399997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:129.58, Y:110.49, Z:1.22 [[-2.59404675e-01 9.65768689e-01 2.33200729e-04 1.29584454e+02] [-9.65768439e-01 -2.59404776e-01 6.96693584e-04 1.10486604e+02] [ 7.33338232e-04 -4.44923308e-05 9.99999730e-01 1.22157323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35185806399994 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:129.58, Y:110.49, Z:1.22 [[-2.61368858e-01 9.65238968e-01 2.33625882e-04 1.29584666e+02] [-9.65238718e-01 -2.61368959e-01 6.96550986e-04 1.10487135e+02] [ 7.33400709e-04 -4.34480112e-05 9.99999730e-01 1.22127070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:110.48, Z:1.22 [[-2.62604134e-01 9.64903629e-01 2.33983314e-04 1.29581228e+02] [-9.64903379e-01 -2.62604235e-01 6.96430898e-04 1.10480176e+02] [ 7.33433710e-04 -4.28856580e-05 9.99999730e-01 1.22050476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:110.47, Z:1.22 [[-2.66029257e-01 9.63964927e-01 2.34340457e-04 1.29578002e+02] [-9.63964676e-01 -2.66029357e-01 6.96310703e-04 1.10470937e+02] [ 7.33560537e-04 -4.06569037e-05 9.99999730e-01 1.22112515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.441858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:129.58, Y:110.47, Z:1.22 [[-2.68237993e-01 9.63352648e-01 2.34698540e-04 1.29578195e+02] [-9.63352397e-01 -2.68238093e-01 6.96189987e-04 1.10470861e+02] [ 7.33631556e-04 -3.93527965e-05 9.99999730e-01 1.22101319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47185806399995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:129.58, Y:110.46, Z:1.22 [[-2.70175694e-01 9.62811009e-01 2.35056561e-04 1.29576554e+02] [-9.62810758e-01 -2.70175793e-01 6.96069086e-04 1.10462837e+02] [ 7.33689572e-04 -3.82540375e-05 9.99999730e-01 1.22011935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:110.46, Z:1.22 [[-2.69483823e-01 9.63004888e-01 2.35414246e-04 1.29574799e+02] [-9.63004637e-01 -2.69483923e-01 6.95948094e-04 1.10460581e+02] [ 7.33641771e-04 -3.91582575e-05 9.99999730e-01 1.21901791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53185806399995 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:129.57, Y:110.46, Z:1.22 [[-2.69696658e-01 9.62945303e-01 2.35772143e-04 1.29573988e+02] [-9.62945053e-01 -2.69696759e-01 6.95826825e-04 1.10456923e+02] [ 7.33630156e-04 -3.93734487e-05 9.99999730e-01 1.21884874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.561858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:129.57, Y:110.45, Z:1.22 [[-2.70578096e-01 9.62697999e-01 2.36129475e-04 1.29572416e+02] [-9.62697749e-01 -2.70578197e-01 6.95705543e-04 1.10448488e+02] [ 7.33645822e-04 -3.90786326e-05 9.99999730e-01 1.21891161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:110.44, Z:1.22 [[-2.68886031e-01 9.63171971e-01 2.36520743e-04 1.29570065e+02] [-9.63171721e-01 -2.68886132e-01 6.95572497e-04 1.10443512e+02] [ 7.33553081e-04 -4.07803631e-05 9.99999730e-01 1.21914875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:110.44, Z:1.22 [[-2.66774176e-01 9.63759038e-01 2.36878720e-04 1.29570031e+02] [-9.63758788e-01 -2.66774278e-01 6.95450566e-04 1.10443085e+02] [ 7.33439918e-04 -4.27656955e-05 9.99999730e-01 1.21879815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65185806399995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:129.57, Y:110.44, Z:1.22 [[-2.64387933e-01 9.64416386e-01 2.37236086e-04 1.29569873e+02] [-9.64416136e-01 -2.64388035e-01 6.95328638e-04 1.10438698e+02] [ 7.33308714e-04 -4.49578087e-05 9.99999730e-01 1.21860244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.681858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:129.57, Y:110.44, Z:1.22 [[-2.58570520e-01 9.65992355e-01 2.37592754e-04 1.29571010e+02] [-9.65992106e-01 -2.58570624e-01 6.95206744e-04 1.10442790e+02] [ 7.32998906e-04 -4.97527559e-05 9.99999730e-01 1.21768089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:110.44, Z:1.22 [[-2.56382395e-01 9.66575404e-01 2.37948094e-04 1.29570082e+02] [-9.66575155e-01 -2.56382500e-01 6.95085100e-04 1.10437594e+02] [ 7.32857889e-04 -5.17871328e-05 9.99999730e-01 1.21817953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:110.47, Z:1.22 [[-2.49490411e-01 9.68377240e-01 2.38371542e-04 1.29580597e+02] [-9.68376992e-01 -2.49490518e-01 6.94939853e-04 1.10465972e+02] [ 7.32435376e-04 -5.74526876e-05 9.99999730e-01 1.22097260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77185806399996 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:129.57, Y:110.44, Z:1.22 [[-2.46899120e-01 9.69041160e-01 2.35623494e-04 1.29572714e+02] [-9.69040911e-01 -2.46899226e-01 6.95883666e-04 1.10437091e+02] [ 7.32515173e-04 -5.65157408e-05 9.99999730e-01 1.21748670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.801858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:129.57, Y:110.43, Z:1.22 [[-2.46092361e-01 9.69246353e-01 2.39034232e-04 1.29571783e+02] [-9.69246106e-01 -2.46092470e-01 6.94710107e-04 1.10431931e+02] [ 7.32169762e-04 -6.07201477e-05 9.99999730e-01 1.21776932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83185806399996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.57, Y:110.43, Z:1.22 [[-2.43956797e-01 9.69786071e-01 2.39454366e-04 1.29570473e+02] [-9.69785825e-01 -2.43956906e-01 6.94565264e-04 1.10429712e+02] [ 7.31996265e-04 -6.27755333e-05 9.99999730e-01 1.21696204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.57, Y:110.43, Z:1.22 [[-2.44446145e-01 9.69662841e-01 2.39805021e-04 1.29568938e+02] [-9.69662594e-01 -2.44446255e-01 6.94444176e-04 1.10425138e+02] [ 7.31996152e-04 -6.27757570e-05 9.99999730e-01 1.21696573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89185806399996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.57, Y:110.42, Z:1.22 [[-2.42304434e-01 9.70200239e-01 2.40155395e-04 1.29570051e+02] [-9.70199993e-01 -2.42304544e-01 6.94322987e-04 1.10424258e+02] [ 7.31823071e-04 -6.47612245e-05 9.99999730e-01 1.21717388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:110.42, Z:1.22 [[-2.41730111e-01 9.70343494e-01 2.40538117e-04 1.29568196e+02] [-9.70343248e-01 -2.41730222e-01 6.94190373e-04 1.10417398e+02] [ 7.31748444e-04 -6.55978220e-05 9.99999730e-01 1.21680612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95185806399996 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:129.57, Y:110.41, Z:1.22 [[-2.41361206e-01 9.70435320e-01 2.40887358e-04 1.29565932e+02] [-9.70435074e-01 -2.41361317e-01 6.94069164e-04 1.10407840e+02] [ 7.31690121e-04 -6.62441710e-05 9.99999730e-01 1.21568206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.58, Y:110.44, Z:1.22 [[-2.36333262e-01 9.71672029e-01 2.41237411e-04 1.29578745e+02] [-9.71671783e-01 -2.36333375e-01 6.93947475e-04 1.10439638e+02] [ 7.31301802e-04 -7.04007154e-05 9.99999730e-01 1.21760896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:110.44, Z:1.22 [[-2.37505193e-01 9.71386240e-01 2.37298986e-04 1.29577844e+02] [-9.71385993e-01 -2.37505303e-01 6.95317480e-04 1.10441269e+02] [ 7.31781600e-04 -6.53673990e-05 9.99999730e-01 1.21897452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04185806399994 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:129.57, Y:110.41, Z:1.22 [[-2.39531208e-01 9.70888636e-01 2.40163804e-04 1.29565968e+02] [-9.70888390e-01 -2.39531319e-01 6.94318659e-04 1.10405003e+02] [ 7.31632848e-04 -6.68612620e-05 9.99999730e-01 1.21544580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:110.40, Z:1.22 [[-2.39841901e-01 9.70811930e-01 2.42192159e-04 1.29561830e+02] [-9.70811685e-01 -2.39842013e-01 6.93610406e-04 1.10395803e+02] [ 7.31453112e-04 -6.87661395e-05 9.99999730e-01 1.21601157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:110.39, Z:1.22 [[-2.41239562e-01 9.70465566e-01 2.42573004e-04 1.29559664e+02] [-9.70465321e-01 -2.41239674e-01 6.93477189e-04 1.10390592e+02] [ 7.31513966e-04 -6.81145547e-05 9.99999730e-01 1.21545683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:110.38, Z:1.21 [[-2.43542148e-01 9.69890284e-01 2.42921537e-04 1.29558934e+02] [-9.69890039e-01 -2.43542260e-01 6.93355078e-04 1.10384638e+02] [ 7.31640014e-04 -6.67459942e-05 9.99999730e-01 1.21481626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:110.38, Z:1.21 [[-2.47120300e-01 9.68984777e-01 2.43270270e-04 1.29556218e+02] [-9.68984531e-01 -2.47120412e-01 6.93232701e-04 1.10377749e+02] [ 7.31848983e-04 -6.44132553e-05 9.99999730e-01 1.21499966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.191858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.55, Y:110.37, Z:1.21 [[-2.48846432e-01 9.68542923e-01 2.43619420e-04 1.29553999e+02] [-9.68542677e-01 -2.48846543e-01 6.93109979e-04 1.10373028e+02] [ 7.31930615e-04 -6.34778602e-05 9.99999730e-01 1.21494137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22185806399995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.55, Y:110.36, Z:1.22 [[-2.51120145e-01 9.67955894e-01 2.43968858e-04 1.29550540e+02] [-9.67955648e-01 -2.51120256e-01 6.92986958e-04 1.10360879e+02] [ 7.32046332e-04 -6.21280482e-05 9.99999730e-01 1.22102307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:110.36, Z:1.22 [[-2.56246655e-01 9.66611397e-01 2.42296172e-04 1.29547226e+02] [-9.66611150e-01 -2.56246763e-01 6.93576798e-04 1.10355430e+02] [ 7.32506847e-04 -5.64794473e-05 9.99999730e-01 1.21597290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28185806399995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.53, Y:110.30, Z:1.22 [[-2.62471271e-01 9.64939777e-01 2.44654995e-04 1.29527262e+02] [-9.64939529e-01 -2.62471379e-01 6.92743737e-04 1.10304461e+02] [ 7.32670921e-04 -5.42519472e-05 9.99999730e-01 1.22155753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.22, Y:109.93, Z:2.20 [[-3.39142442e-01 -9.40735002e-01 -2.44654995e-04 1.30219963e+02] [-9.40734747e-01 3.39142530e-01 -6.92743737e-04 1.09927348e+02] [ 7.34661195e-04 -4.78334705e-06 -9.99999730e-01 2.19691430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34185806399995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.45, Y:110.16, Z:1.22 [[-1.98601167e-01 9.80080373e-01 1.95236878e-04 1.29451126e+02] [-9.80080120e-01 -1.98601257e-01 7.06538069e-04 1.10159868e+02] [ 7.31238384e-04 -5.10284980e-05 9.99999731e-01 1.21841454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.371858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:129.46, Y:110.19, Z:1.21 [[-1.99843772e-01 9.79827754e-01 1.97208553e-04 1.29461450e+02] [-9.79827501e-01 -1.99843862e-01 7.05986450e-04 1.10191040e+02] [ 7.31156037e-04 -5.21433687e-05 9.99999731e-01 1.21428919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:110.17, Z:1.21 [[-2.00954194e-01 9.79600619e-01 1.97831995e-04 1.29455175e+02] [-9.79600366e-01 -2.00954285e-01 7.05811706e-04 1.10169664e+02] [ 7.31168771e-04 -5.19604724e-05 9.99999731e-01 1.21334869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.46, Y:110.18, Z:1.21 [[-2.02493196e-01 9.79283650e-01 1.96513696e-04 1.29458009e+02] [-9.79283397e-01 -2.02493285e-01 7.06181779e-04 1.10184364e+02] [ 7.31344974e-04 -4.94455948e-05 9.99999731e-01 1.21256306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46185806399995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.46, Y:110.18, Z:1.21 [[-2.03965217e-01 9.78978116e-01 1.98527061e-04 1.29455888e+02] [-9.78977863e-01 -2.03965307e-01 7.05615313e-04 1.10175512e+02] [ 7.31274582e-04 -5.04326175e-05 9.99999731e-01 1.21293079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.491858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.46, Y:110.19, Z:1.21 [[-2.01250255e-01 9.79539839e-01 1.98886592e-04 1.29464152e+02] [-9.79539586e-01 -2.01250347e-01 7.05513960e-04 1.10193242e+02] [ 7.31105026e-04 -5.28324252e-05 9.99999731e-01 1.21102465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:110.17, Z:1.21 [[-2.05257241e-01 9.78708040e-01 1.95244765e-04 1.29455450e+02] [-9.78707786e-01 -2.05257329e-01 7.06541523e-04 1.10169260e+02] [ 7.31573288e-04 -4.60648076e-05 9.99999731e-01 1.21308945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:110.16, Z:1.21 [[-2.01245432e-01 9.79540829e-01 1.99557589e-04 1.29455074e+02] [-9.79540577e-01 -2.01245523e-01 7.05321290e-04 1.10156393e+02] [ 7.31051073e-04 -5.35320688e-05 9.99999731e-01 1.20903296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58185806399996 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:129.46, Y:110.17, Z:1.21 [[-2.00026894e-01 9.79790388e-01 1.95341374e-04 1.29458402e+02] [-9.79790134e-01 -2.00026983e-01 7.06515352e-04 1.10168612e+02] [ 7.31310496e-04 -5.00714795e-05 9.99999731e-01 1.21186408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:110.18, Z:1.21 [[-2.01800814e-01 9.79426564e-01 1.94889224e-04 1.29457761e+02] [-9.79426310e-01 -2.01800903e-01 7.06643645e-04 1.10177318e+02] [ 7.31434378e-04 -4.82783710e-05 9.99999731e-01 1.21374487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.45, Y:110.16, Z:1.22 [[-2.00758219e-01 9.79640801e-01 1.98137428e-04 1.29450734e+02] [-9.79640548e-01 -2.00758310e-01 7.05719715e-04 1.10162147e+02] [ 7.31129562e-04 -5.24244257e-05 9.99999731e-01 1.21526367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.44, Y:110.10, Z:1.22 [[-2.03245920e-01 9.79127702e-01 1.99848552e-04 1.29435138e+02] [-9.79127449e-01 -2.03246011e-01 7.05231858e-04 1.10103850e+02] [ 7.31130470e-04 -5.23417056e-05 9.99999731e-01 1.21537369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70185806399996 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:130.15, Y:109.83, Z:2.20 [[-2.80172126e-01 -9.59949759e-01 -1.99848552e-04 1.30151903e+02] [-9.59949500e-01 2.80172197e-01 -7.05231858e-04 1.09826447e+02] [ 7.32979161e-04 -5.74179157e-06 -9.99999731e-01 2.20477543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.37, Y:109.95, Z:1.21 [[-1.39206633e-01 9.90263344e-01 1.52768927e-04 1.29365913e+02] [-9.90263087e-01 -1.39206707e-01 7.15286989e-04 1.09950319e+02] [ 7.29588945e-04 -5.17087365e-05 9.99999733e-01 1.21463095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76185806399997 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:129.36, Y:109.95, Z:1.21 [[-1.40667079e-01 9.90056943e-01 1.53103130e-04 1.29364372e+02] [-9.90056685e-01 -1.40667154e-01 7.15215429e-04 1.09945565e+02] [ 7.29640583e-04 -5.09735115e-05 9.99999733e-01 1.21448965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:109.71, Z:2.21 [[-2.12039228e-01 -9.77261143e-01 -1.53103130e-04 1.30092892e+02] [-9.77260882e-01 2.12039283e-01 -7.15215429e-04 1.09709100e+02] [ 7.31416126e-04 -2.03202809e-06 -9.99999733e-01 2.20641112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.31, Y:109.84, Z:1.21 [[-7.50627649e-02 9.97178806e-01 1.04399874e-04 1.29307245e+02] [-9.97178545e-01 -7.50628209e-02 7.22255342e-04 1.09835531e+02] [ 7.28054268e-04 -4.98908319e-05 9.99999734e-01 1.21378627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:109.61, Z:2.20 [[-1.45502485e-01 -9.89357881e-01 -1.04399874e-04 1.30047507e+02] [-9.89357617e-01 1.45502523e-01 -7.22255342e-04 1.09609121e+02] [ 7.29759459e-04 -1.80113641e-06 -9.99999734e-01 2.20436816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:109.67, Z:1.21 [[-3.80771460e-03 9.99992749e-01 5.35097046e-05 1.29255481e+02] [-9.99992487e-01 -3.80775246e-03 7.26153283e-04 1.09665253e+02] [ 7.26351769e-04 -5.07443181e-05 9.99999735e-01 1.21333999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.00, Y:109.50, Z:2.20 [[-8.61403301e-02 -9.96283012e-01 -5.35097046e-05 1.30004183e+02] [-9.96282748e-01 8.61403463e-02 -7.26153283e-04 1.09503437e+02] [ 7.28063525e-04 -9.24028797e-06 -9.99999735e-01 2.20460014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.941858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.97, Y:109.39, Z:2.20 [[-2.03550931e-02 -9.99792812e-01 -5.35097046e-05 1.29972710e+02] [-9.99792549e-01 2.03551266e-02 -7.26153283e-04 1.09387099e+02] [ 7.27092030e-04 3.87176863e-05 -9.99999735e-01 2.20471074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:109.39, Z:2.21 [[ 5.60262437e-02 -9.98429295e-01 4.55219788e-05 1.29950325e+02] [-9.98429036e-01 -5.60262620e-02 -7.20298306e-04 1.09385514e+02] [ 7.21717357e-04 -5.09485701e-06 -9.99999740e-01 2.20738073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:109.38, Z:2.20 [[ 1.33404198e-01 -9.91061709e-01 9.82786388e-05 1.29934142e+02] [-9.91061452e-01 -1.33404234e-01 -7.13026696e-04 1.09379132e+02] [ 7.19764242e-04 -2.27941582e-06 -9.99999741e-01 2.20132420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.17, Y:109.17, Z:1.22 [[ 2.91515436e-01 9.56566112e-01 -1.54983719e-04 1.29165017e+02] [-9.56565857e-01 2.91515472e-01 7.00653495e-04 1.09174471e+02] [ 7.15401541e-04 -5.59991754e-05 9.99999743e-01 1.21671658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.92, Y:109.32, Z:2.21 [[ 2.08107074e-01 -9.78106039e-01 1.50066260e-04 1.29921885e+02] [-9.78105787e-01 -2.08107129e-01 -7.01719057e-04 1.09317902e+02] [ 7.17585506e-04 -7.47977044e-07 -9.99999743e-01 2.20504442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:109.31, Z:2.21 [[ 2.83868195e-01 -9.58863289e-01 2.03838879e-04 1.29909859e+02] [-9.58863044e-01 -2.83868268e-01 -6.85590534e-04 1.09313179e+02] [ 7.15250984e-04 -8.36221254e-07 -9.99999744e-01 2.20837173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.90, Y:109.31, Z:2.21 [[ 3.58091628e-01 -9.33686415e-01 2.53939128e-04 1.29900120e+02] [-9.33686177e-01 -3.58091718e-01 -6.66194673e-04 1.09309814e+02] [ 7.12950415e-04 1.45928132e-06 -9.99999746e-01 2.20500772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15185806399995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.89, Y:109.30, Z:2.21 [[ 4.30012017e-01 -9.02823113e-01 3.03037854e-04 1.29889678e+02] [-9.02822884e-01 -4.30012124e-01 -6.42628319e-04 1.09301784e+02] [ 7.10489650e-04 2.74839052e-06 -9.99999748e-01 2.20748553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.181858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.88, Y:109.30, Z:2.21 [[ 4.99163218e-01 -8.66507908e-01 3.56696682e-04 1.29882177e+02] [-8.66507693e-01 -4.99163345e-01 -6.11431449e-04 1.09296218e+02] [ 7.07860095e-04 -3.87632926e-06 -9.99999749e-01 2.20642259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.87, Y:109.29, Z:2.21 [[ 5.65925302e-01 -8.24456422e-01 4.01553919e-04 1.29874507e+02] [-8.24456217e-01 -5.65925445e-01 -5.80428357e-04 1.09288100e+02] [ 7.05787466e-04 -2.58453226e-06 -9.99999751e-01 2.20750806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.241858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:129.87, Y:109.28, Z:2.21 [[ 6.28588591e-01 -7.77737865e-01 4.43589844e-04 1.29868423e+02] [-7.77737673e-01 -6.28588748e-01 -5.46235538e-04 1.09280103e+02] [ 7.03663645e-04 -1.63910586e-06 -9.99999752e-01 2.20771596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27185806399996 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:129.86, Y:109.27, Z:2.21 [[ 6.86595629e-01 -7.27039345e-01 4.83844452e-04 1.29863602e+02] [-7.27039167e-01 -6.86595799e-01 -5.07886479e-04 1.09273523e+02] [ 7.01459021e-04 -3.06123100e-06 -9.99999754e-01 2.20751922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.301858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.85, Y:109.26, Z:2.21 [[ 7.40872582e-01 -6.71645402e-01 5.20464200e-04 1.29854121e+02] [-6.71645240e-01 -7.40872765e-01 -4.67081463e-04 1.09264662e+02] [ 6.99310867e-04 -3.51945286e-06 -9.99999755e-01 2.20847074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33185806399996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:129.85, Y:109.26, Z:2.21 [[ 7.93061170e-01 -6.09141756e-01 5.49315797e-04 1.29849991e+02] [-6.09141604e-01 -7.93061361e-01 -4.29440366e-04 1.09255901e+02] [ 6.97231192e-04 5.96137337e-06 -9.99999757e-01 2.20867333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.361858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.84, Y:109.24, Z:2.21 [[ 8.39331341e-01 -5.43619867e-01 5.82979020e-04 1.29835824e+02] [-5.43619736e-01 -8.39331544e-01 -3.77446349e-04 1.09235689e+02] [ 6.94500015e-04 -1.16350314e-07 -9.99999759e-01 2.21225005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39185806399996 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.83, Y:109.22, Z:2.21 [[ 8.81244133e-01 -4.72660995e-01 6.01767945e-04 1.29829822e+02] [-4.72660871e-01 -8.81244338e-01 -3.42947888e-04 1.09220076e+02] [ 6.92402685e-04 1.77886536e-05 -9.99999760e-01 2.20894458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.421858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:129.83, Y:109.21, Z:2.21 [[ 9.15858680e-01 -4.01500288e-01 6.29854262e-04 1.29826165e+02] [-4.01500190e-01 -9.15858897e-01 -2.79700688e-04 1.09207781e+02] [ 6.89157536e-04 3.27969667e-06 -9.99999763e-01 2.21003811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:109.20, Z:2.21 [[ 9.44864657e-01 -3.27460472e-01 6.47803625e-04 1.29822680e+02] [-3.27460392e-01 -9.44864879e-01 -2.28903458e-04 1.09195927e+02] [ 6.87043728e-04 4.15275805e-06 -9.99999764e-01 2.21001509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:109.18, Z:2.21 [[ 9.67974915e-01 -2.51046062e-01 6.61684481e-04 1.29817765e+02] [-2.51046000e-01 -9.67975142e-01 -1.77017312e-04 1.09183904e+02] [ 6.84933628e-04 5.23507546e-06 -9.99999765e-01 2.21048865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51185806399997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:129.81, Y:109.17, Z:2.21 [[ 9.84730040e-01 -1.74087038e-01 6.71445765e-04 1.29813311e+02] [-1.74086993e-01 -9.84730269e-01 -1.24280289e-04 1.09170539e+02] [ 6.82828556e-04 5.49256009e-06 -9.99999767e-01 2.21142848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54185806399994 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:129.81, Y:109.16, Z:2.21 [[ 9.95320553e-01 -9.66257691e-02 6.77029744e-04 1.29809778e+02] [-9.66257431e-02 -9.95320783e-01 -7.11334024e-05 1.09158036e+02] [ 6.80735094e-04 5.38203532e-06 -9.99999768e-01 2.21092213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57185806399997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.81, Y:109.15, Z:2.21 [[ 9.99833130e-01 -1.82552104e-02 6.78432451e-04 1.29808007e+02] [-1.82552024e-02 -9.99833360e-01 -1.78650406e-05 1.09145444e+02] [ 6.78645527e-04 5.47713773e-06 -9.99999770e-01 2.21067331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60185806399994 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:129.81, Y:109.13, Z:2.21 [[ 9.98171774e-01 6.04371788e-02 6.75669061e-04 1.29805942e+02] [ 6.04371688e-02 -9.98172003e-01 3.51914837e-05 1.09134384e+02] [ 6.76560814e-04 5.70837938e-06 -9.99999771e-01 2.21093277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63185806399997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:129.81, Y:109.13, Z:2.21 [[ 9.90407731e-01 1.38174089e-01 6.68780113e-04 1.29805503e+02] [ 1.38174061e-01 -9.90407957e-01 8.77156529e-05 1.09125627e+02] [ 6.74485176e-04 5.53380347e-06 -9.99999773e-01 2.21088507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66185806399994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.80, Y:109.12, Z:2.21 [[ 9.76209033e-01 2.16830559e-01 6.57832772e-04 1.29804788e+02] [ 2.16830514e-01 -9.76209255e-01 1.39382845e-04 1.09115362e+02] [ 6.72404900e-04 6.57142567e-06 -9.99999774e-01 2.21113169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.691858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:129.81, Y:109.10, Z:2.21 [[ 9.56211791e-01 2.92674900e-01 6.42924436e-04 1.29805420e+02] [ 2.92674839e-01 -9.56212007e-01 1.89865581e-04 1.09104856e+02] [ 6.70340956e-04 6.61609824e-06 -9.99999775e-01 2.21324160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72185806399995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.81, Y:109.09, Z:2.21 [[ 9.30898017e-01 3.65278650e-01 6.24159075e-04 1.29807114e+02] [ 3.65278572e-01 -9.30898227e-01 2.38893918e-04 1.09086245e+02] [ 6.68291423e-04 5.60606041e-06 -9.99999777e-01 2.21203372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.751858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.81, Y:109.07, Z:2.21 [[ 8.99354528e-01 4.37219696e-01 6.08378327e-04 1.29810351e+02] [ 4.37219611e-01 -8.99354734e-01 2.72296081e-04 1.09072993e+02] [ 6.66201138e-04 2.11042220e-05 -9.99999778e-01 2.21204612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:109.07, Z:2.21 [[ 8.61671913e-01 5.07465441e-01 5.83243716e-04 1.29813523e+02] [ 5.07465343e-01 -8.61672110e-01 3.16191881e-04 1.09067079e+02] [ 6.63021296e-04 2.35223086e-05 -9.99999780e-01 2.21307522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.82, Y:109.05, Z:2.21 [[ 8.20654510e-01 5.71424430e-01 5.44211035e-04 1.29817109e+02] [ 5.71424308e-01 -8.20654691e-01 3.73122318e-04 1.09050775e+02] [ 6.59820546e-04 4.77090057e-06 -9.99999782e-01 2.20969372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.83, Y:109.04, Z:2.21 [[ 7.71186539e-01 6.36609024e-01 5.21610538e-04 1.29826203e+02] [ 6.36608898e-01 -7.71186715e-01 4.01178000e-04 1.09035292e+02] [ 6.57652653e-04 2.26788365e-05 -9.99999784e-01 2.20779643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.871858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.84, Y:109.02, Z:2.21 [[ 7.17696592e-01 6.96355778e-01 4.82648802e-04 1.29836238e+02] [ 6.96355638e-01 -7.17696754e-01 4.42341104e-04 1.09019033e+02] [ 6.54422262e-04 1.86285115e-05 -9.99999786e-01 2.20668758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90185806399995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.85, Y:109.00, Z:2.21 [[ 6.60651182e-01 7.50692892e-01 4.43910815e-04 1.29848598e+02] [ 7.50692741e-01 -6.60651331e-01 4.77325724e-04 1.08999169e+02] [ 6.51595299e-04 1.78948229e-05 -9.99999788e-01 2.20945499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.931858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.86, Y:108.99, Z:2.21 [[ 5.96594799e-01 8.02542506e-01 4.13972351e-04 1.29859020e+02] [ 8.02542351e-01 -5.96594942e-01 5.00486159e-04 1.08987570e+02] [ 6.48635227e-04 3.36429047e-05 -9.99999789e-01 2.20761245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96185806399995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.87, Y:108.97, Z:2.21 [[ 5.28298198e-01 8.49058820e-01 3.65080569e-04 1.29871319e+02] [ 8.49058654e-01 -5.28298324e-01 5.32370684e-04 1.08974133e+02] [ 6.44885478e-04 2.87243431e-05 -9.99999792e-01 2.20786967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.991858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.88, Y:108.96, Z:2.21 [[ 4.57778684e-01 8.89066124e-01 3.22088384e-04 1.29883112e+02] [ 8.89065951e-01 -4.57778796e-01 5.55851688e-04 1.08962509e+02] [ 6.41634138e-04 3.19007612e-05 -9.99999794e-01 2.20542971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02185806399996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.89, Y:108.96, Z:2.20 [[ 3.85439525e-01 9.22733057e-01 2.78389701e-04 1.29887077e+02] [ 9.22732878e-01 -3.85439624e-01 5.75526314e-04 1.08956856e+02] [ 6.38359577e-04 3.50487414e-05 -9.99999796e-01 2.20399143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.051858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:129.90, Y:108.95, Z:2.21 [[ 3.09803665e-01 9.50800526e-01 2.20494879e-04 1.29901040e+02] [ 9.50800339e-01 -3.09803743e-01 5.96138254e-04 1.08946616e+02] [ 6.35118704e-04 2.49607900e-05 -9.99999798e-01 2.20537758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08185806399996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.91, Y:108.94, Z:2.20 [[ 2.31276178e-01 9.72888122e-01 1.78124123e-04 1.29914735e+02] [ 9.72887933e-01 -2.31276244e-01 6.07622042e-04 1.08939436e+02] [ 6.32344145e-04 3.27663063e-05 -9.99999800e-01 2.20284712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:108.93, Z:2.20 [[ 1.52815691e-01 9.88254699e-01 1.23738244e-04 1.29929240e+02] [ 9.88254506e-01 -1.52815738e-01 6.17801883e-04 1.08932077e+02] [ 6.29454764e-04 2.78750559e-05 -9.99999802e-01 2.20105402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.94, Y:108.93, Z:2.20 [[ 7.39114184e-02 9.97264808e-01 7.46355489e-05 1.29943480e+02] [ 9.97264613e-01 -7.39114506e-02 6.23059794e-04 1.08926391e+02] [ 6.26872028e-04 2.83801587e-05 -9.99999803e-01 2.19811142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.171858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:129.96, Y:108.92, Z:2.20 [[-6.27705727e-03 9.99980299e-01 1.96009197e-05 1.29958310e+02] [ 9.99980104e-01 6.27704380e-03 6.24556595e-04 1.08923953e+02] [ 6.24421255e-04 2.35209073e-05 -9.99999805e-01 2.20121191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20185806399996 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:130.00, Y:108.94, Z:2.21 [[-8.36424827e-02 9.96495827e-01 -3.36111954e-05 1.29996413e+02] [ 9.96495634e-01 8.36424874e-02 6.21813667e-04 1.08936557e+02] [ 6.22446048e-04 1.85166294e-05 -9.99999806e-01 2.20547785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.231858064 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:130.04, Y:108.88, Z:2.20 [[-1.62320820e-01 9.86738033e-01 -8.02659785e-05 1.30041493e+02] [ 9.86737841e-01 1.62320838e-01 6.15731812e-04 1.08881190e+02] [ 6.20594838e-04 2.07446142e-05 -9.99999807e-01 2.20440592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26185806399997 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:130.08, Y:108.90, Z:2.21 [[-2.38256469e-01 9.71202264e-01 -1.29357117e-04 1.30076040e+02] [ 9.71202076e-01 2.38256504e-01 6.05358505e-04 1.08900504e+02] [ 6.18745725e-04 1.85986792e-05 -9.99999808e-01 2.20695786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29185806399994 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:130.12, Y:108.90, Z:2.21 [[-3.12648378e-01 9.49868918e-01 -1.74378435e-04 1.30115004e+02] [ 9.49868734e-01 3.12648426e-01 5.92099333e-04 1.08901213e+02] [ 6.16935897e-04 1.94822726e-05 -9.99999810e-01 2.20685525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32185806399997 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:130.17, Y:108.87, Z:2.21 [[-3.84622728e-01 9.23073837e-01 -2.18842033e-04 1.30166308e+02] [ 9.23073658e-01 3.84622790e-01 5.75124742e-04 1.08872923e+02] [ 6.15054235e-04 1.91987310e-05 -9.99999811e-01 2.21071146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35185806399994 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:130.21, Y:108.86, Z:2.21 [[-4.54494503e-01 8.90749503e-01 -2.63067983e-04 1.30212982e+02] [ 8.90749331e-01 4.54494579e-01 5.54128846e-04 1.08862265e+02] [ 6.13152967e-04 1.75208846e-05 -9.99999812e-01 2.21113256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38185806399997 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:130.27, Y:108.84, Z:2.21 [[-5.17459125e-01 8.55707872e-01 -3.04689830e-04 1.30270454e+02] [ 8.55707707e-01 5.17459214e-01 5.30210511e-04 1.08840626e+02] [ 6.11369868e-04 1.36368304e-05 -9.99999813e-01 2.21109984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41185806399994 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:130.31, Y:108.85, Z:2.21 [[-5.79630453e-01 8.14879389e-01 -3.46449275e-04 1.30309048e+02] [ 8.14879234e-01 5.79630556e-01 5.01615251e-04 1.08850396e+02] [ 6.09568515e-04 8.43715526e-06 -9.99999814e-01 2.21280549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.441858064 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:130.33, Y:108.87, Z:2.21 [[-6.39378607e-01 7.68891963e-01 -3.81547792e-04 1.30334196e+02] [ 7.68891818e-01 6.39378721e-01 4.73322127e-04 1.08869350e+02] [ 6.07887119e-04 9.26306737e-06 -9.99999815e-01 2.21215174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47185806399995 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:130.41, Y:108.85, Z:2.21 [[-6.89620959e-01 7.24170384e-01 -4.33202837e-04 1.30408170e+02] [ 7.24170260e-01 6.89621095e-01 4.24237045e-04 1.08853438e+02] [ 6.05965719e-04 -2.11498534e-05 -9.99999816e-01 2.21368360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.501858064 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:130.42, Y:108.89, Z:2.21 [[-7.40717133e-01 6.71816885e-01 -4.49261695e-04 1.30421546e+02] [ 6.71816762e-01 7.40717270e-01 4.06488370e-04 1.08888764e+02] [ 6.05861647e-04 -7.28636811e-07 -9.99999816e-01 2.21282284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53185806399995 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:130.44, Y:108.92, Z:2.21 [[-7.85535859e-01 6.18815955e-01 -4.78237887e-04 1.30438720e+02] [ 6.18815845e-01 7.85536004e-01 3.68926672e-04 1.08920829e+02] [ 6.03970790e-04 -6.13605200e-06 -9.99999818e-01 2.21347280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.561858064 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:130.37, Y:108.99, Z:2.21 [[-8.35741677e-01 5.49122568e-01 -5.04108923e-04 1.30372370e+02] [ 5.49122470e-01 8.35741829e-01 3.29325004e-04 1.08991952e+02] [ 6.02144705e-04 -1.58690519e-06 -9.99999819e-01 2.20861670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59185806399995 meters Centerline goodness : 0.997079 Centerline is valid? [True, True] Translation: X:130.80, Y:109.63, Z:1.21 [[-9.18494160e-01 -3.95434185e-01 5.32035332e-04 1.30795633e+02] [ 3.95434090e-01 -9.18494313e-01 -2.78416896e-04 1.09626122e+02] [ 5.98766985e-04 -4.53393864e-05 9.99999820e-01 1.20732136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.621858064 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:130.47, Y:108.98, Z:2.21 [[-8.67013907e-01 4.98283663e-01 -5.26140541e-04 1.30472729e+02] [ 4.98283579e-01 8.67014066e-01 2.89143369e-04 1.08983390e+02] [ 6.00246667e-04 -1.14758706e-05 -9.99999820e-01 2.21251040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65185806399995 meters Centerline goodness : 0.996652 Centerline is valid? [True, True] Translation: X:130.47, Y:109.02, Z:2.21 [[-9.02734342e-01 4.30198105e-01 -5.45487958e-04 1.30465876e+02] [ 4.30198035e-01 9.02734507e-01 2.46292821e-04 1.09019174e+02] [ 5.98385507e-04 -1.23308596e-05 -9.99999821e-01 2.21462506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.681858064 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:130.46, Y:109.05, Z:2.22 [[-9.33572541e-01 3.58388052e-01 -5.61374794e-04 1.30463988e+02] [ 3.58387995e-01 9.33572710e-01 2.02181653e-04 1.09050060e+02] [ 5.96543676e-04 -1.24387475e-05 -9.99999822e-01 2.21549868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71185806399995 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:130.24, Y:109.14, Z:2.21 [[-9.51230355e-01 3.08480929e-01 -5.73716344e-04 1.30239418e+02] [ 3.08480890e-01 9.51230527e-01 1.57115879e-04 1.09142517e+02] [ 5.94203752e-04 -2.75271353e-05 -9.99999823e-01 2.20742268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.741858064 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:130.23, Y:109.17, Z:2.21 [[-9.69898596e-01 2.43508478e-01 -5.78066301e-04 1.30225025e+02] [ 2.43508441e-01 9.69898768e-01 1.34518883e-04 1.09168335e+02] [ 5.93422282e-04 -1.02943476e-05 -9.99999824e-01 2.21141634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77185806399996 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:130.56, Y:109.18, Z:2.22 [[-9.76199458e-01 2.16873891e-01 -5.78066301e-04 1.30561092e+02] [ 2.16873850e-01 9.76199629e-01 1.34518883e-04 1.09181174e+02] [ 5.93481742e-04 5.94979695e-06 -9.99999824e-01 2.22443855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.801858064 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:130.66, Y:109.22, Z:2.23 [[-9.87629985e-01 1.56801396e-01 -5.79346553e-04 1.30656563e+02] [ 1.56801353e-01 9.87630154e-01 1.20604043e-04 1.09221081e+02] [ 5.91091008e-04 2.82698459e-05 -9.99999825e-01 2.22985839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83185806399996 meters Centerline goodness : 0.987211 Centerline is valid? [True, True] Translation: X:130.66, Y:109.29, Z:2.24 [[-9.85997592e-01 1.66758548e-01 -5.79431756e-04 1.30661166e+02] [ 1.66758506e-01 9.85997762e-01 1.19224872e-04 1.09289525e+02] [ 5.91200181e-04 2.09302628e-05 -9.99999825e-01 2.23622197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.861858064 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:130.76, Y:109.25, Z:2.23 [[-9.98255000e-01 -5.90475982e-02 -5.79250475e-04 1.30764764e+02] [-5.90476714e-02 9.98255158e-01 1.10005074e-04 1.09253565e+02] [ 5.71744239e-04 1.44016507e-04 -9.99999826e-01 2.23002521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89185806399996 meters Centerline goodness : 0.963210 Centerline is valid? [True, True] Translation: X:130.76, Y:109.92, Z:1.18 [[-8.83759398e-01 4.67941263e-01 5.47767107e-04 1.30764185e+02] [-4.67941289e-01 -8.83759550e-01 8.73731589e-05 1.09919719e+02] [ 5.24979918e-04 -1.79105996e-04 9.99999846e-01 1.18086117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.921858064 meters Centerline goodness : 0.978116 Centerline is valid? [True, True] Translation: X:130.82, Y:109.95, Z:1.16 [[-8.98159629e-01 4.39669196e-01 5.27494923e-04 1.30823829e+02] [-4.39669153e-01 -8.98159783e-01 2.01607094e-04 1.09945021e+02] [ 5.62415155e-04 -5.08478929e-05 9.99999841e-01 1.15740770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95185806399996 meters Centerline goodness : 0.976457 Centerline is valid? [True, True] Translation: X:130.54, Y:109.93, Z:1.20 [[-9.37336523e-01 3.48424981e-01 5.25443457e-04 1.30540999e+02] [-3.48424915e-01 -9.37336670e-01 2.14190910e-04 1.09929569e+02] [ 5.67146884e-04 1.76913713e-05 9.99999839e-01 1.19686344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.981858064 meters Centerline goodness : 0.971475 Centerline is valid? [True, True] Translation: X:130.52, Y:109.92, Z:1.19 [[-9.33333950e-01 3.59008989e-01 5.33406194e-04 1.30516651e+02] [-3.59008956e-01 -9.33334101e-01 1.59439381e-04 1.09918459e+02] [ 5.55086361e-04 -4.26874136e-05 9.99999845e-01 1.19063262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01185806399997 meters Centerline goodness : 0.967736 Centerline is valid? [True, True] Translation: X:130.49, Y:109.91, Z:1.19 [[-9.33034233e-01 3.59787208e-01 5.33599814e-04 1.30485076e+02] [-3.59787176e-01 -9.33034385e-01 1.58072405e-04 1.09912421e+02] [ 5.54739404e-04 -4.44954049e-05 9.99999845e-01 1.19335379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04185806399994 meters Centerline goodness : 0.962252 Centerline is valid? [True, True] Translation: X:130.47, Y:109.91, Z:1.19 [[-9.42839879e-01 3.33245673e-01 5.33420813e-04 1.30470906e+02] [-3.33245636e-01 -9.42840029e-01 1.59358218e-04 1.09913965e+02] [ 5.56035931e-04 -2.75108747e-05 9.99999845e-01 1.19493983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07185806399997 meters Centerline goodness : 0.956863 Centerline is valid? [True, True] Translation: X:130.43, Y:109.89, Z:1.19 [[-9.31968405e-01 3.62539108e-01 5.35441127e-04 1.30434130e+02] [-3.62539084e-01 -9.31968557e-01 1.44384338e-04 1.09894859e+02] [ 5.51359264e-04 -5.95566944e-05 9.99999846e-01 1.19266039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10185806399994 meters Centerline goodness : 0.152898 Centerline is valid? [True, False] Translation: X:131.45, Y:111.48, Z:2.59 [[ 4.78111340e-01 -6.53880211e-01 -5.86387428e-01 1.31453747e+02] [-3.25478992e-02 6.53990482e-01 -7.55802278e-01 1.11483521e+02] [ 8.77695950e-01 3.80443319e-01 2.91397839e-01 2.59377212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13185806399997 meters Centerline goodness : 0.948528 Centerline is valid? [False, False] Translation: X:131.44, Y:111.40, Z:2.55 [[ 4.90512909e-01 -5.58973300e-01 -6.68540153e-01 1.31438423e+02] [-2.67910846e-02 7.57136832e-01 -6.52706714e-01 1.11398198e+02] [ 8.71022000e-01 3.38071985e-01 3.56409889e-01 2.55139749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16185806399994 meters Centerline goodness : 0.946221 Centerline is valid? [False, False] Translation: X:131.41, Y:111.32, Z:2.52 [[ 5.01056068e-01 -4.65408576e-01 -7.29614744e-01 1.31414794e+02] [-2.28580642e-02 8.35669569e-01 -5.48756668e-01 1.11320123e+02] [ 8.65112898e-01 2.91635439e-01 4.08078969e-01 2.51714098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5240.16 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%| | 0/8773 [00:00